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107 Commits

Author SHA1 Message Date
Andy Piper 7f3f135dc5 AP_RCProtocol: add debug for further CRSF messages 
add better frame debug info to CRSF
 2020-11-11 18:13:11 +11:00
Andrew Tridgell 2dd58c8ed1 AP_RCProtocol: send null pkts for FPort2 
when we have no data to send, we should send an empty packet to ensure
the receiver schedules us for data as often as possible
 2020-10-28 19:51:45 +11:00
Andrew Tridgell 20c4f1950b AP_RCProtocol: added FPort protocol test 2020-10-28 09:00:34 +11:00
Andrew Tridgell df5105e20b AP_RCProtocol: added FPort2 protocol test 2020-10-28 09:00:34 +11:00
Andrew Tridgell a8770a5a82 AP_RCProtocol: added FPort2 protocol support 2020-10-28 09:00:34 +11:00
yaapu 4dec72a230 AP_RCProtocol: added support for frsky fport bidirectional telemetry 2020-10-27 10:17:53 +11:00
yaapu f33d197b16 AP_RCProtocol: fix fport rssi 2020-09-29 09:04:38 +10:00
Andy Piper 1f3c24d436 AP_RCProtocol: put back DSM VTX control and logging, add tests 2020-09-02 17:10:59 +10:00
Andrew Tridgell 2bac4b1d97 AP_RCProtocol: fixed up DSM decoder test suite 
reverted values from new decoder and added another example
 2020-08-24 16:32:35 +10:00
Andrew Tridgell 78c4e27259 AP_RCProtocol: reverted DSM protocol decoder 
the new decoder done by Andy is much nicer looking code, but fails to
correctly parse several valid DSM setups, and parses both SBUS and
FPort as DSM, breaking setups that were previously working
 2020-08-24 16:32:35 +10:00
Andrew Tridgell 6e1aeb905f AP_RCProtocol: added another DSM satellite protocol 2020-08-24 16:32:35 +10:00
Andrew Tridgell 1560c33418 AP_RCProtocol: fixed support for spektrum satellite receivers 
this was broken by the recent DSM protocol decoder change
 2020-08-24 16:32:35 +10:00
Andrew Tridgell 2779b26e6e AP_RCProtocol: fixed the "3 good frames" test 
require 3 consecutive good frames, not 3 frames total, to declare the
weak protocols as detected
 2020-08-24 16:32:35 +10:00
Andrew Tridgell 380e9d3075 AP_RCProtocol: greatly increase robustness of DSM decoding 
this prevents other protocols being decoded as DSM
 2020-08-24 16:32:35 +10:00
Andrew Tridgell e0ec46f06d AP_RCProtocol: support a mask of enabled RC protocols 2020-08-24 16:32:35 +10:00
Andy Piper ce970dcf75 AP_RCProtocol: process CRSF link statistics frames to get RSSI 2020-08-06 18:24:46 +10:00
Peter Barker 8f77536c08 AP_RCProtocol: fix segfault in example due to lack of VideoTX singleton 2020-07-31 07:55:09 +10:00
Andy Piper b697a44aed AP_RCProtocol: configure VTX when a SRXL2 VTX packet is received 
support DSM VTX control
 2020-07-14 16:50:08 +10:00
Andy Piper 80e1c0ebb0 AP_RCProtocol: decode DSM frame markers to avoid timing related jitters especially in SITL 
complete re-write of DSM decoding
 2020-07-13 19:36:49 +10:00
Andy Piper 4e88adf86e AP_RCProtocol: TBS CRSF implementation 
refactor rc channels decoding into backend
refactor SBUS to use decode_11bit_channels()
only support big-endian
don't include CRSF in iomcu
 2020-07-07 18:48:06 +10:00
Andrew Tridgell 21937a7830 AP_RCProtocol: fixed alignment errors in SRXL2 
invalid alignment used
 2020-07-07 10:23:00 +10:00
Andy Piper 6162605388 AP_RCProtocol: ignore SRXL2 dbm rssi value like BF does 2020-07-07 09:03:40 +10:00
Andy Piper acff7daba5 AP_RCProtocol: scale SRXL2 using published conversion values. switch SRXL2 channels to match ArduPilot 2020-05-24 07:45:01 +10:00
Andy Piper 167e1d12d7 AP_RCProtocol: disable flow-control and buffered-writes for SRXL2 uart 
switched spm_srxl.c to C++ compilation
Correctly set budget for half-duplex writes
Tidy PACKED and other externalities
disable SRXL2 on IOMCU and softserial - SRXL2 is a serial half-duplex protocol-only
fixed buffer overrun in SRXL2 parser
fix bugs in decoder sketch and allow output to SITL
 2020-05-05 09:23:15 +10:00
Andy Piper e3a88f686d AP_RCTelemetry: Spektrum telemetry library and telemetry abstraction 
add support for temperature, battery voltage, battery current, flight pack
altitiude, airspeed, attitude and compass, GPS, ESC telemetry based on BLHeli
status messages and QOS packets.
refactor into AP_Telemetry
conditionally compile based on HAL_MINIMIZE_FEATURES
don't initialize spektrum telemetry if there is no RC uart
 2020-05-05 09:23:15 +10:00
Andy Piper 68c6a3b03d AP_RCProtocol: SRXL2 support 2020-05-05 09:23:15 +10:00
Andrew Tridgell 7e835d1037 AP_RCProtocol: fixed buffer overflow in st24 parser 
found using random data injection in SITL
 2020-04-21 06:02:29 +10:00
Peter Barker 061c3ecb7f AP_RCProtocol: add documentation for RCDA message 2020-04-14 07:34:59 +10:00
Andrew Tridgell 087da57858 AP_RCProtocol: added logging of RC prototol input bytes 2020-03-24 09:10:36 +09:00
Andrew Tridgell 6b35497129 AP_RCProtocol: moved fport variables into class 
reduced pollution of global namespace
 2020-03-20 12:37:52 +11:00
Andrew Tridgell a1069d85cb AP_RCProtocol: fixed bug in FPort parser 
if we got invalid frame->type values we would overrun the buffer and
cause memory corruption. This was the cause of the bug Polarijet found
 2020-03-20 12:37:52 +11:00
yaapu b4bdc76a53 AP_RCProtocol: handle 0x10 and 0x00 frames, check scheduler delay and fix incoming crc 
Respond to 0x10 when the rx is controlling bandwidth, else respond only to 0x00
but in this case never exceed a max number of consecutive frames.
Always respond to polling and if necessary send a null frame.
moved delay check after get_telem_data() to account for scheduler time
align incoming to outgoing crc
 2020-02-21 09:29:15 +11:00
Andrew Tridgell 8e67c3459a AP_RCProtocol: added multi-channel read() API 
and use pulse_input_enable() to disable pulse input when not needed
 2020-01-31 11:09:07 +11:00
yaapu 88f0d54574 AP_RCProtocol: fport downlink packet: fixed CRC and added missing PACKED attribute 2020-01-22 06:58:29 +11:00
Peter Barker 4d6f6c09fb AP_RCProtocol: add missing break statement 2020-01-15 13:55:42 +11:00
Andrew Tridgell 74ca9033e2 AP_RCProtocol: fixed support for 22ms multi-frame DSM 2020-01-09 17:38:52 +11:00
Andrew Tridgell 39b738e407 AP_RCProtocol: expand test suite for multi-frame protocols 2020-01-09 17:38:52 +11:00
Andrew Tridgell 5588229f68 AP_RCProtocol: fixed scaling on FPort RSSI 
make it match OpenTX
 2020-01-09 07:08:11 +11:00
Andrew Tridgell f8847bf569 AP_RCProtocol: auto-create Frsky_Telem object when needed for FPort 2020-01-02 09:52:57 +11:00
Andrew Tridgell 33182a9f11 AP_RCProtocol: use RC_OPTIONS fport pad option 2020-01-02 09:52:57 +11:00
Andrew Tridgell fd5ff97b59 AP_RCProtocol: support FPort telemetry data 
get SPort data from AP_FrSky_Telem
 2020-01-02 09:52:57 +11:00
Andrew Tridgell a72eaabc96 AP_RCProtocol: support FPort RSSI 2020-01-02 09:52:57 +11:00
Andrew Tridgell 9332c08c46 AP_RCProtocol: added FPort protocol support 2020-01-02 09:52:57 +11:00
Andy Piper afa232cc7e AP_RCProtocol: fix example compile on macos 2019-12-30 13:02:04 +11:00
Mirko Denecke fe46dc34d4 AP_RCProtocol: remove duplicated definition from protocol_detected 2019-10-31 08:24:30 +11:00
Andrew Tridgell aa20be4270 AP_RCProtocol: fixed SUMD with 16 channels 
with 16 channels it is more than 3ms per frame
 2019-09-07 10:02:26 +10:00
Andrew Tridgell c8de2ec9c7 AP_RCProtocol: added update() method for use by SITL 2019-09-06 08:51:45 +10:00
Andrew Tridgell 2b856abdd1 AP_RCProtocol: support an additional uart on RC input 
this will allow for any UART to be configured as an additional RC
input source
 2019-09-06 08:51:45 +10:00
Mirko Denecke 633eb11bfd AP_RCProtocol: IBUS remove unused field 2019-07-22 09:12:57 +09:00
murata 954e6a0c50 AP_RCProtocol: Match output type and variable type 2019-07-16 10:11:13 +10:00