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boards: add crsfrc driver to ark flight controllers #23063

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boards: add crsfrc driver to ark flight controllers #23063

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6f950ad
boards: add crsfrc driver to ark flight controllers
AlexKlimaj Apr 28, 2024
0ad531e
drivers: crsf_rc add enable param
AlexKlimaj Apr 28, 2024
048eec1
drivers: fix COMMON_RC Kconfig typo
AlexKlimaj Apr 28, 2024
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3 changes: 3 additions & 0 deletions ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
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Original file line number Diff line number Diff line change
Expand Up @@ -69,6 +69,9 @@ param set-default MPC_THR_MIN 0.025
param set-default MPC_VEL_MANUAL 5.0
param set-default MPC_XY_VEL_MAX 8.0

param set-default RC_CRSF_INPUT_EN 1
param set-default RC_CRSF_TEL_EN 1

param set-default RTL_RETURN_ALT 15

param set-default SENS_FLOW_MINHGT 0.0
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12 changes: 10 additions & 2 deletions ROMFS/px4fmu_common/init.d/rcS
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Expand Up @@ -436,8 +436,16 @@ else
#
. ${R}etc/init.d/rc.serial

# Must be started after the serial config is read
rc_input start $RC_INPUT_ARGS
#
# Start the RC input handling
# Note: Must be started after the serial config is read
#
if param compare -s RC_CRSF_INPUT_EN 1
then
crsf_rc start $RC_INPUT_ARGS
else
rc_input start $RC_INPUT_ARGS
fi

#
# Play the startup tune (if not disabled or there is an error)
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1 change: 1 addition & 0 deletions boards/ark/fmu-v6x/default.px4board
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Expand Up @@ -29,6 +29,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y
CONFIG_DRIVERS_POWER_MONITOR_INA238=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_PX4IO=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_SAFETY_BUTTON=y
CONFIG_DRIVERS_TONE_ALARM=y
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1 change: 1 addition & 0 deletions boards/ark/pi6x/default.px4board
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Expand Up @@ -18,6 +18,7 @@ CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
CONFIG_DRIVERS_POWER_MONITOR_INA226=y
CONFIG_DRIVERS_PWM_OUT=y
CONFIG_DRIVERS_RC_CRSF_RC=y
CONFIG_DRIVERS_RC_INPUT=y
CONFIG_DRIVERS_TONE_ALARM=y
CONFIG_DRIVERS_UAVCAN=y
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2 changes: 1 addition & 1 deletion src/drivers/rc/Kconfig
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Expand Up @@ -4,6 +4,6 @@ menu "RC"
default n
select DRIVERS_RC_CRSF_RC
---help---
Enable default set of magnetometer drivers
Enable default set of rc drivers
rsource "*/Kconfig"
endmenu
12 changes: 10 additions & 2 deletions src/drivers/rc/crsf_rc/module.yaml
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@@ -1,17 +1,25 @@
module_name: CRSF RC Input Driver
serial_config:
- command: "crsf_rc start -d ${SERIAL_DEV}"
- command: set RC_INPUT_ARGS "-d ${SERIAL_DEV}"
port_config_param:
name: RC_CRSF_PRT_CFG
group: Serial
#default: RC
default: RC
#depends_on_port: RC
description_extended: |
Crossfire RC (CRSF) driver.

parameters:
- group: RC
definitions:
RC_CRSF_INPUT_EN:
description:
short: Crossfire enable
long: |
Crossfire Input enable

type: boolean
default: [0]
RC_CRSF_TEL_EN:
description:
short: Crossfire RC telemetry enable
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