aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_RCProtocol: add CRSF binding API

Browse Source
This commit is contained in:
Andy Piper 2024-03-10 17:00:04 +00:00 committed by Andrew Tridgell
parent cd6ed219f7
commit 2f246b7638
2 changed files with 17 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
View File

@ -680,6 +680,17 @@ int16_t AP_RCProtocol_CRSF::derive_scaled_lq_value(uint8_t uplink_lq)
return int16_t(roundf(constrain_float(uplink_lq*2.5f,0,255)));
}
// start bind
#if HAL_CRSF_TELEM_ENABLED
void AP_RCProtocol_CRSF::start_bind(void)
{
AP_CRSF_Telem* telem = AP::crsf_telem();
if (telem != nullptr) {
telem->start_bind();
}
}
#endif
namespace AP {
AP_RCProtocol_CRSF* crsf() {
return AP_RCProtocol_CRSF::get_singleton();

6
libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
View File

@ -19,6 +19,7 @@
#pragma once
#include "AP_RCProtocol_config.h"
#include <AP_RCTelemetry/AP_RCTelemetry_config.h>
#if AP_RCPROTOCOL_CRSF_ENABLED
@ -43,6 +44,9 @@ public:
void process_byte(uint8_t byte, uint32_t baudrate) override;
void process_handshake(uint32_t baudrate) override;
void update(void) override;
#if HAL_CRSF_TELEM_ENABLED
void start_bind(void) override;
#endif
// support for CRSF v3
bool change_baud_rate(uint32_t baudrate);
// bootstrap baudrate
@ -149,6 +153,8 @@ public:
// Commands for CRSF_COMMAND_RX
enum CommandRX {
CRSF_COMMAND_RX_BIND = 0x01,
CRSF_COMMAND_RX_CANCEL_BIND = 0x02,
CRSF_COMMAND_RX_SET_BIND_ID = 0x03,
};
// Commands for CRSF_COMMAND_GENERAL