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AP_RCTelemetry: check that CRSF and GHST have been detected before sending a version ping or doing rf changes

This commit is contained in:
Andy Piper 2024-01-14 13:38:22 +00:00 committed by Andrew Tridgell
parent 407b8a6003
commit 567c7a2b1b
2 changed files with 12 additions and 2 deletions
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9
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -185,9 +185,14 @@ bool AP_CRSF_Telem::process_rf_mode_changes()
if (crsf != nullptr) {
uart = crsf->get_UART();
}
if (uart == nullptr) {
return true;
}
if (!crsf->is_detected()) {
return false;
}
// not ready yet
if (!uart->is_initialized()) {
return false;
@ -402,11 +407,11 @@ bool AP_CRSF_Telem::is_packet_ready(uint8_t idx, bool queue_empty)
case GENERAL_COMMAND:
return _baud_rate_request.pending;
case VERSION_PING:
return _crsf_version.pending;
return _crsf_version.pending && AP::crsf()->is_detected(); // only send pings if protocol has been detected
case HEARTBEAT:
return true; // always send heartbeat if enabled
case DEVICE_PING:
return !_crsf_version.pending; // only send pings if version has been negotiated
return !_crsf_version.pending; // only send pings if version has been negotiated
default:
return _enable_telemetry;
}

5
libraries/AP_RCTelemetry/AP_GHST_Telem.cpp
View File

@ -111,9 +111,14 @@ bool AP_GHST_Telem::process_rf_mode_changes()
if (ghost != nullptr) {
uart = ghost->get_UART();
}
if (uart == nullptr) {
return true;
}
if (!ghost->is_detected()) {
return false;
}
// not ready yet
if (!uart->is_initialized()) {
return false;