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AP_RCProtocol: add and use AP_VIDEOTX_ENABLED

This commit is contained in:
Peter Barker 2023-01-20 00:00:16 +11:00 committed by Andrew Tridgell
parent 2656bcf5fa
commit c139f7c730
2 changed files with 8 additions and 2 deletions
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6
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -23,6 +23,8 @@
#include "AP_RCProtocol_SRXL2.h"
#endif
#include <AP_VideoTX/AP_VideoTX_config.h>
extern const AP_HAL::HAL& hal;
// #define DSM_DEBUG
@ -235,15 +237,15 @@ bool AP_RCProtocol_DSM::dsm_decode(uint32_t frame_time_ms, const uint8_t dsm_fra
}
// Handle VTX control frame.
#if AP_VIDEOTX_ENABLED
if (haveVtxControl) {
#if !APM_BUILD_TYPE(APM_BUILD_iofirmware)
AP_RCProtocol_SRXL2::configure_vtx(
(vtxControl & SPEKTRUM_VTX_BAND_MASK) >> SPEKTRUM_VTX_BAND_SHIFT,
(vtxControl & SPEKTRUM_VTX_CHANNEL_MASK) >> SPEKTRUM_VTX_CHANNEL_SHIFT,
(vtxControl & SPEKTRUM_VTX_POWER_MASK) >> SPEKTRUM_VTX_POWER_SHIFT,
(vtxControl & SPEKTRUM_VTX_PIT_MODE_MASK) >> SPEKTRUM_VTX_PIT_MODE_SHIFT);
#endif
}
#endif
/*
* The encoding of the first two bytes is uncertain, so we're

4
libraries/AP_RCProtocol/AP_RCProtocol_SRXL2.cpp
View File

@ -299,6 +299,7 @@ void AP_RCProtocol_SRXL2::send_on_uart(uint8_t* pBuffer, uint8_t length)
}
}
#if AP_VIDEOTX_ENABLED
// configure the video transmitter, the input values are Spektrum-oriented
void AP_RCProtocol_SRXL2::configure_vtx(uint8_t band, uint8_t channel, uint8_t power, uint8_t pitmode)
{
@ -351,6 +352,7 @@ void AP_RCProtocol_SRXL2::configure_vtx(uint8_t band, uint8_t channel, uint8_t p
break;
}
}
#endif // AP_VIDEOTX_ENABLED
// send data to the uart
void AP_RCProtocol_SRXL2::_send_on_uart(uint8_t* pBuffer, uint8_t length)
@ -455,5 +457,7 @@ bool srxlOnBind(SrxlFullID device, SrxlBindData info)
// User-provided callback routine to handle reception of a VTX control packet.
void srxlOnVtx(SrxlVtxData* pVtxData)
{
#if AP_VIDEOTX_ENABLED
AP_RCProtocol_SRXL2::configure_vtx(pVtxData->band, pVtxData->channel, pVtxData->power, pVtxData->pit);
#endif
}