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Added RC option for allowing RC protocol switching #18889

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merged 2 commits into from
Oct 15, 2021
Merged

Added RC option for allowing RC protocol switching #18889

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7c12de2
RC_Channel: added RC_OPTION bit for allowing RC protocol switching
tridge Oct 10, 2021
490031f
AP_RCProtocol: check for RC protocol switching enable
tridge Oct 10, 2021
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16 changes: 13 additions & 3 deletions libraries/AP_RCProtocol/AP_RCProtocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,10 +63,20 @@ AP_RCProtocol::~AP_RCProtocol()
}
}

bool AP_RCProtocol::should_search(uint32_t now_ms) const
{
#ifndef IOMCU_FW
if (_detected_protocol != AP_RCProtocol::NONE && !rc().multiple_receiver_support()) {
return false;
}
#endif
return (now_ms - _last_input_ms >= 200);
}

void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
bool searching = should_search(now);

#ifndef IOMCU_FW
rc_protocols_mask = rc().enabled_protocols();
Expand Down Expand Up @@ -150,7 +160,7 @@ void AP_RCProtocol::process_pulse_list(const uint32_t *widths, uint16_t n, bool
bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
{
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
bool searching = should_search(now);

#ifndef IOMCU_FW
rc_protocols_mask = rc().enabled_protocols();
Expand Down Expand Up @@ -234,7 +244,7 @@ void AP_RCProtocol::check_added_uart(void)
return;
}
uint32_t now = AP_HAL::millis();
bool searching = (now - _last_input_ms >= 200);
bool searching = should_search(now);
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if (!searching && !_detected_with_bytes) {
// not using this uart
return;
Expand Down
1 change: 1 addition & 0 deletions libraries/AP_RCProtocol/AP_RCProtocol.h
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Expand Up @@ -49,6 +49,7 @@ class AP_RCProtocol {
{
return _valid_serial_prot;
}
bool should_search(uint32_t now_ms) const;
void process_pulse(uint32_t width_s0, uint32_t width_s1);
void process_pulse_list(const uint32_t *widths, uint16_t n, bool need_swap);
bool process_byte(uint8_t byte, uint32_t baudrate);
Expand Down
5 changes: 4 additions & 1 deletion libraries/RC_Channel/RC_Channel.h
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Expand Up @@ -496,7 +496,9 @@ class RC_Channels {
return get_singleton() != nullptr && (_options & uint32_t(Option::SUPPRESS_CRSF_MESSAGE));
}


bool multiple_receiver_support() const {
return _options & uint32_t(Option::MULTI_RECEIVER_SUPPORT);
}

// returns true if overrides should time out. If true is returned
// then returned_timeout_ms will contain the timeout in
Expand Down Expand Up @@ -556,6 +558,7 @@ class RC_Channels {
ALLOW_SWITCH_REV = (1U << 7), // honor the reversed flag on switches
CRSF_CUSTOM_TELEMETRY = (1U << 8), // use passthrough data for crsf telemetry
SUPPRESS_CRSF_MESSAGE = (1U << 9), // suppress CRSF mode/rate message for ELRS systems
MULTI_RECEIVER_SUPPORT = (1U << 10), // allow multiple receivers
};

void new_override_received() {
Expand Down
2 changes: 1 addition & 1 deletion libraries/RC_Channel/RC_Channels_VarInfo.h
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Expand Up @@ -89,7 +89,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @DisplayName: RC options
// @Description: RC input options
// @User: Advanced
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems
// @Bitmask: 0:Ignore RC Receiver, 1:Ignore MAVLink Overrides, 2:Ignore Receiver Failsafe bit but allow other RC failsafes if setup, 3:FPort Pad, 4:Log RC input bytes, 5:Arming check throttle for 0 input, 6:Skip the arming check for neutral Roll/Pitch/Yaw sticks, 7:Allow Switch reverse, 8:Use passthrough for CRSF telemetry, 9:Suppress CRSF mode/rate message for ELRS systems,10:Enable multiple receiver support
AP_GROUPINFO("_OPTIONS", 33, RC_CHANNELS_SUBCLASS, _options, (uint32_t)RC_Channels::Option::ARMING_CHECK_THROTTLE),

// @Param: _PROTOCOLS
Expand Down