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RC_Channel: added support for passthrough telemetry over crossfire

This commit is contained in:
yaapu 2020-12-10 10:29:40 +01:00 committed by Peter Barker
parent 1c3b7d5ecd
commit 79640e5d94
2 changed files with 15 additions and 9 deletions
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22
libraries/RC_Channel/RC_Channel.h
View File

@ -403,6 +403,11 @@ public:
return get_singleton() != nullptr && (_options & uint32_t(Option::FPORT_PAD));
}
// returns true if we should pass through data for crsf telemetry
bool crsf_custom_telemetry(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::CRSF_CUSTOM_TELEMETRY));
}
// should a channel reverse option affect aux switches
bool switch_reverse_allowed(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::ALLOW_SWITCH_REV));
@ -464,14 +469,15 @@ public:
protected:
enum class Option {
IGNORE_RECEIVER = (1 << 0), // RC receiver modules
IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1 << 2), // ignore RC failsafe bits
FPORT_PAD = (1 << 3), // pad fport telem output
LOG_DATA = (1 << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1 << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1 << 6), // skip the an arming checks for the roll/pitch/yaw channels
ALLOW_SWITCH_REV = (1 << 7), // honor the reversed flag on switches
IGNORE_RECEIVER = (1U << 0), // RC receiver modules
IGNORE_OVERRIDES = (1U << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1U << 2), // ignore RC failsafe bits
FPORT_PAD = (1U << 3), // pad fport telem output
LOG_DATA = (1U << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1U << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1U << 6), // skip the an arming checks for the roll/pitch/yaw channels
ALLOW_SWITCH_REV = (1U << 7), // honor the reversed flag on switches
CRSF_CUSTOM_TELEMETRY = (1U << 8), // use passthrough data for crsf telemetry
};
void new_override_received() {

2
libraries/RC_Channel/RC_Channels_VarInfo.h
View File

@ -89,7 +89,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @DisplayName: RC options
// @Description: RC input options
// @User: Advanced
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yay sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry
AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, (uint32_t)RC_Channels::Option::ARMING_CHECK_THROTTLE),
// @Param: _PROTOCOLS