dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

rc: enable crsf and ghst telemetry on supported boards 

Co-authored-by: Benjamin Linne <benjamin.linne.civ@mail.mil>
This commit is contained in:
benjinne 2021-04-07 02:51:49 -04:00 committed by GitHub
parent 6fbb409e43
commit 9b7eae4043
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
4 changed files with 11 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
boards/modalai/fc-v1/src/board_config.h
View File

@ -184,6 +184,7 @@
/* RC Serial port */
#define RC_SERIAL_PORT "/dev/ttyS5"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
#define GPIO_SAFETY_SWITCH_IN /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)

1
boards/omnibus/f4sd/src/board_config.h
View File

@ -132,6 +132,7 @@
#define GPIO_PPM_IN (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)
#define RC_SERIAL_PORT "/dev/ttyS0"
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/*
* One RC_IN

1
boards/px4/fmu-v5/src/board_config.h
View File

@ -307,6 +307,7 @@
#define RC_SERIAL_PORT "/dev/ttyS4"
#define RC_SERIAL_SINGLEWIRE
#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
/* Input Capture Channels. */
#define INPUT_CAP1_TIMER 2

15
src/drivers/rc_input/RCInput.cpp
View File

@ -621,16 +621,15 @@ void RCInput::Run()
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0);
// Enable CRSF Telemetry only on the Omnibus, because on Pixhawk (-related) boards
// we cannot write to the RC UART
// It might work on FMU-v5. Or another option is to use a different UART port
#ifdef CONFIG_ARCH_BOARD_OMNIBUS_F4SD
// on Pixhawk (-related) boards we cannot write to the RC UART
// another option is to use a different UART port
#ifdef BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
if (!_rc_scan_locked && !_crsf_telemetry) {
_crsf_telemetry = new CRSFTelemetry(_rcs_fd);
}
#endif /* CONFIG_ARCH_BOARD_OMNIBUS_F4SD */
#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */
_rc_scan_locked = true;
@ -669,13 +668,15 @@ void RCInput::Run()
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
// ghst telemetry works on fmu-v5
// on other Pixhawk (-related) boards it does not work because
// we cannot write to the RC UART
// on other Pixhawk (-related) boards we cannot write to the RC UART
// another option is to use a different UART port
#ifdef BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
if (!_rc_scan_locked && !_ghst_telemetry) {
_ghst_telemetry = new GHSTTelemetry(_rcs_fd);
}
#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */
_rc_scan_locked = true;