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RC_Channel: add option to support ELRS at 420kbaud

This commit is contained in:
Andy Piper 2022-12-11 22:23:07 +00:00 committed by Peter Hall
parent 9356ccbd32
commit aaa6b284bd
2 changed files with 6 additions and 1 deletions
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5
libraries/RC_Channel/RC_Channel.h
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@ -550,6 +550,10 @@ public:
return get_singleton() != nullptr && (_options & uint32_t(Option::CRSF_FM_DISARM_STAR)) != 0;
}
bool use_420kbaud_for_elrs(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::ELRS_420KBAUD)) != 0;
}
// returns true if overrides should time out. If true is returned
// then returned_timeout_ms will contain the timeout in
// milliseconds, with 0 meaning overrides are disabled.
@ -626,6 +630,7 @@ protected:
MULTI_RECEIVER_SUPPORT = (1U << 10), // allow multiple receivers
USE_CRSF_LQ_AS_RSSI = (1U << 11), // returns CRSF link quality as RSSI value, instead of RSSI
CRSF_FM_DISARM_STAR = (1U << 12), // when disarmed, add a star at the end of the flight mode in CRSF telemetry
ELRS_420KBAUD = (1U << 13), // use 420kbaud for ELRS protocol
};
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/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:CRSF RSSI shows Link Quality, 12:CRSF flight mode disarm star
// @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/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support, 11:Use Link Quality for RSSI with CRSF, 12:Annotate CRSF flight mode with * on disarm, 13: Use 420kbaud for ELRS protocol
AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, (uint32_t)RC_Channels::Option::ARMING_CHECK_THROTTLE),
// @Param: _PROTOCOLS