AP_RCProtocol: add CRSF binding API

ArduPilot · Mar 10, 2024 · 542e652 · 542e652
1 parent 6287e65
commit 542e652
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Showing 2 changed files with 17 additions and 0 deletions.
diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
@@ -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();

diff --git a/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h b/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h
@@ -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 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
     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 @@ class AP_RCProtocol_CRSF : public AP_RCProtocol_Backend {
     // 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