Merge pull request #27 from modalai/pr-crsf-tbs

add CRSF support to tbs_crossfire driver
PX4 · Oct 25, 2022 · 49dd87b · 49dd87b
2 parents 19a38a4 + 977be59
commit 49dd87b
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Showing 6 changed files with 314 additions and 123 deletions.
diff --git a/boards/modalai/rb5-flight/voxl-px4 b/boards/modalai/rb5-flight/voxl-px4
@@ -20,8 +20,10 @@ do
         d) DAEMON="-d";;
         # Use -m to specify Mateksys M8Q-5883 GPS unit
         m) G="MATEK";;
-        # Use -r to specify TBS Crossfire RC receiver
-        r) R="CRSF";;
+        # Use -r to specify TBS Crossfire RC receiver, MAVLINK
+        r) R="CRSF_MAV";;
+        # Use -r to specify TBS Crossfire RC receiver, raw
+        c) R="CRSF_RAW";;
         # Use -i to specify IMU rotation of ROTATION_YAW_180
         i) I="ROTATE_IMU_YAW_180";;
         # Use -o to start OSD module on the apps processor

diff --git a/boards/modalai/rb5-flight/voxl-px4.config b/boards/modalai/rb5-flight/voxl-px4.config
@@ -164,9 +164,12 @@ else
     # If RC is TBS Crossfire then start its driver.
     # Otherwise, it could be either a directly connected Spektrum receiver
     # or an external M0065 (aka px4io) module.
-    if [ "$RC" == "CRSF" ]; then
-        /bin/echo "Starting TBS crossfire RC"
-        qshell tbs_crossfire start -p 7 -b 115200
+    if [ "$RC" == "CRSF_MAV" ]; then
+        /bin/echo "Starting TBS crossfire RC - MAV Mode"
+        qshell tbs_crossfire start -m -p 7 -b 115200
+    elif [ "$RC" == "CRSF_RAW" ]; then
+        /bin/echo "Starting TBS crossfire RC - CRSF Mode"
+        qshell tbs_crossfire start -c -p 7 -b 250000
     else
         qshell px4io detect
         PX4IO_STATUS=$?
@@ -226,7 +229,7 @@ modalai_gps_timer start
 # now done via the mavlink server and voxl-vision-px4!!!
 param set MAV_BROADCAST 0
 
-if [ "$RC" == "CRSF" ]; then
+if [ "$RC" == "CRSF_MAV" ]; then
     # Slow everything way down if we are using TBS Crossfire
     mavlink start -a -x -u 14556 -o 14557 -r 10000 -n lo -m minimal
 
@@ -254,7 +257,7 @@ fi
 mavlink boot_complete
 
 # For now we use a mavlink bridge for TBS Crossfire support
-if [ "$RC" == "CRSF" ]; then
+if [ "$RC" == "CRSF_MAV" ]; then
     mavlink_bridge start
 fi
 

diff --git a/src/drivers/modalai/tbs_crossfire/CMakeLists.txt b/src/drivers/modalai/tbs_crossfire/CMakeLists.txt
@@ -42,9 +42,12 @@ px4_add_module(
 		-Wno-address-of-packed-member # TODO: fix in c_library_v2
 	INCLUDES
 		${PX4_SOURCE_DIR}/mavlink/include/mavlink
+		${PX4_SOURCE_DIR}/src/drivers/rc_input
 	SRCS
 		tbs_crossfire.cpp
+		${PX4_SOURCE_DIR}/src/drivers/rc_input/crsf_telemetry.cpp
 	DEPENDS
+		rc
 		px4_work_queue
 		git_mavlink_v2
 	)