Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-03 04:03:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_RCTelemetry: don't process VTX frames when VTX support is disabled

Browse Source
This commit is contained in:
Andy Piper 2021-03-09 19:35:34 +00:00 committed by Andrew Tridgell
parent f7e23566ac
commit f1eee860c0
1 changed files with 16 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
View File

@ -392,7 +392,12 @@ void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
vtx->is_in_pitmode, vtx->power, vtx->pitmode);
AP_VideoTX& apvtx = AP::vtx();
apvtx.set_enabled(vtx->is_vtx_available);
// the user may have a VTX connected but not want AP to control it
// (for instance because they are using myVTX on the transmitter)
if (!apvtx.get_enabled()) {
return;
}
apvtx.set_band(vtx->band);
apvtx.set_channel(vtx->channel);
if (vtx->is_in_user_frequency_mode) {
@ -428,12 +433,17 @@ void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
_vtx_power_change_pending = _vtx_freq_change_pending = _vtx_options_change_pending = false;
}
void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx) {
void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx)
{
vtx->frequency = be16toh(vtx->frequency);
debug("VTXTelemetry: Freq: %d, PitMode: %d, Power: %d", vtx->frequency, vtx->pitmode, vtx->power);
AP_VideoTX& apvtx = AP::vtx();
if (!apvtx.get_enabled()) {
return;
}
apvtx.set_frequency_mhz(vtx->frequency);
AP_VideoTX::VideoBand band;
@ -550,6 +560,10 @@ void AP_CRSF_Telem::update_vtx_params()
{
AP_VideoTX& vtx = AP::vtx();
if (!vtx.get_enabled()) {
return;
}
_vtx_freq_change_pending = vtx.update_band() || vtx.update_channel() || vtx.update_frequency() || _vtx_freq_change_pending;
_vtx_power_change_pending = vtx.update_power() || _vtx_power_change_pending;
_vtx_options_change_pending = vtx.update_options() || _vtx_options_change_pending;