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[crsf] add temperature, RPM and AirSpeed telemetry #11025

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[crsf] add temperature, RPM and AirSpeed telemetry #11025

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e26d941
[crsf] add temperature and RPM telemetry
gismo2004 Sep 14, 2025
2821161
make the compiler happy
gismo2004 Sep 14, 2025
e02bc3c
more compiler warnings
gismo2004 Sep 15, 2025
2dc2864
add AirSpeed
gismo2004 Sep 23, 2025
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4 changes: 4 additions & 0 deletions src/main/rx/crsf.h
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@ enum {
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE = 2,
CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE = 2,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
Expand Down Expand Up @@ -88,6 +89,9 @@ typedef enum {
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_BAROMETER_ALTITUDE = 0x09,
CRSF_FRAMETYPE_AIRSPEED_SENSOR = 0x0A,
CRSF_FRAMETYPE_RPM = 0x0C,
CRSF_FRAMETYPE_TEMP = 0x0D,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
Expand Down
133 changes: 131 additions & 2 deletions src/main/telemetry/crsf.c
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Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,7 @@
#include "fc/runtime_config.h"

#include "flight/imu.h"
#include "flight/mixer.h"

#include "io/gps.h"
#include "io/serial.h"
Expand All @@ -56,7 +57,10 @@
#include "rx/rx.h"

#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "sensors/pitotmeter.h"
#include "sensors/sensors.h"
#include "sensors/temperature.h"

#include "telemetry/crsf.h"
#include "telemetry/telemetry.h"
Expand Down Expand Up @@ -151,6 +155,16 @@ static void crsfSerialize16(sbuf_t *dst, uint16_t v)
crsfSerialize8(dst, (uint8_t)v);
}

#ifdef USE_ESC_SENSOR
static void crsfSerialize24(sbuf_t *dst, uint32_t v)
{
// Use BigEndian format
crsfSerialize8(dst, (v >> 16));
crsfSerialize8(dst, (v >> 8));
crsfSerialize8(dst, (uint8_t)v);
}
#endif

static void crsfSerialize32(sbuf_t *dst, uint32_t v)
{
// Use BigEndian format
Expand Down Expand Up @@ -285,6 +299,86 @@ static void crsfBarometerAltitude(sbuf_t *dst)
crsfSerialize16(dst, altitude_packed);
}

#ifdef USE_PITOT
/*
0x0A Airspeed sensor
Payload:
int16 Air speed ( dm/s )
*/
static void crsfFrameAirSpeedSensor(sbuf_t *dst)
{
// use sbufWrite since CRC does not include frame length
sbufWriteU8(dst, CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_AIRSPEED_SENSOR);
crsfSerialize16(dst, (uint16_t)(getAirspeedEstimate() * 36 / 100));
}
#endif

#ifdef USE_ESC_SENSOR
/*
0x0C RPM
Payload:
uint8_t rpm_source_id; // Identifies the source of the RPM data (e.g., 0 = Motor 1, 1 = Motor 2, etc.)
int24_t rpm_value[]; // 1 - 19 RPM values with negative ones representing the motor spinning in reverse
*/
static void crsfRpm(sbuf_t *dst)
{
uint8_t motorCount = getMotorCount();

if (STATE(ESC_SENSOR_ENABLED) && motorCount > 0) {
sbufWriteU8(dst, 1 + (motorCount * 3) + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_RPM);
// 0 = FC including all ESCs
crsfSerialize8(dst, 0);

for (uint8_t i = 0; i < motorCount; i++) {
const escSensorData_t *escState = getEscTelemetry(i);
crsfSerialize24(dst, (escState) ? escState->rpm : 0);
}
}
}
#endif

/*
0x0D TEMP
Payload:
uint8_t temp_source_id; // Identifies the source of the temperature data (e.g., 0 = FC including all ESCs, 1 = Ambient, etc.)
int16_t temperature[]; // up to 20 temperature values in deci-degree (tenths of a degree) Celsius (e.g., 250 = 25.0°C, -50 = -5.0°C)
*/
static void crsfTemperature(sbuf_t *dst)
{

uint8_t tempCount = 0;
int16_t temperatures[20];

#ifdef USE_ESC_SENSOR
uint8_t motorCount = getMotorCount();
if (STATE(ESC_SENSOR_ENABLED) && motorCount > 0) {
for (uint8_t i = 0; i < motorCount; i++) {
const escSensorData_t *escState = getEscTelemetry(i);
temperatures[tempCount++] = (escState) ? escState->temperature * 10 : TEMPERATURE_INVALID_VALUE;
}
}
#endif

#ifdef USE_TEMPERATURE_SENSOR
for (uint8_t i = 0; i < MAX_TEMP_SENSORS; i++) {
int16_t value;
if (getSensorTemperature(i, &value))
temperatures[tempCount++] = value;
}
#endif

if (tempCount > 0) {
sbufWriteU8(dst, 1 + (tempCount * 2) + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_TEMP);
// 0 = FC including all ESCs
crsfSerialize8(dst, 0);
for (uint8_t i = 0; i < tempCount; i++)
crsfSerialize16(dst, temperatures[i]);
}
}

typedef enum {
CRSF_ACTIVE_ANTENNA1 = 0,
CRSF_ACTIVE_ANTENNA2 = 1
Expand Down Expand Up @@ -443,11 +537,14 @@ typedef enum {
CRSF_FRAME_GPS_INDEX,
CRSF_FRAME_VARIO_SENSOR_INDEX,
CRSF_FRAME_BAROMETER_ALTITUDE_INDEX,
CRSF_FRAME_TEMP_INDEX,
CRSF_FRAME_RPM_INDEX,
CRSF_FRAME_AIRSPEED_INDEX,
CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e;

static uint8_t crsfScheduleCount;
static uint8_t crsfSchedule[CRSF_SCHEDULE_COUNT_MAX];
static uint16_t crsfSchedule[CRSF_SCHEDULE_COUNT_MAX];

#if defined(USE_MSP_OVER_TELEMETRY)

Expand Down Expand Up @@ -476,7 +573,7 @@ void crsfSendMspResponse(uint8_t *payload)
static void processCrsf(void)
{
static uint8_t crsfScheduleIndex = 0;
const uint8_t currentSchedule = crsfSchedule[crsfScheduleIndex];
const uint16_t currentSchedule = crsfSchedule[crsfScheduleIndex];

sbuf_t crsfPayloadBuf;
sbuf_t *dst = &crsfPayloadBuf;
Expand All @@ -496,6 +593,20 @@ static void processCrsf(void)
crsfFrameFlightMode(dst);
crsfFinalize(dst);
}
#ifdef USE_ESC_SENSOR
if (currentSchedule & BV(CRSF_FRAME_RPM_INDEX)) {
crsfInitializeFrame(dst);
crsfRpm(dst);
crsfFinalize(dst);
}
#endif
#if defined(USE_ESC_SENSOR) || defined(USE_TEMPERATURE_SENSOR)
if (currentSchedule & BV(CRSF_FRAME_TEMP_INDEX)) {
crsfInitializeFrame(dst);
crsfTemperature(dst);
crsfFinalize(dst);
}
#endif
#ifdef USE_GPS
if (currentSchedule & BV(CRSF_FRAME_GPS_INDEX)) {
crsfInitializeFrame(dst);
Expand All @@ -514,6 +625,13 @@ static void processCrsf(void)
crsfBarometerAltitude(dst);
crsfFinalize(dst);
}
#endif
#ifdef USE_PITOT
if (currentSchedule & BV(CRSF_FRAME_AIRSPEED_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameAirSpeedSensor(dst);
crsfFinalize(dst);
}
#endif
crsfScheduleIndex = (crsfScheduleIndex + 1) % crsfScheduleCount;
}
Expand Down Expand Up @@ -552,6 +670,17 @@ void initCrsfTelemetry(void)
if (sensors(SENSOR_BARO)) {
crsfSchedule[index++] = BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX);
}
#endif
#ifdef USE_ESC_SENSOR
crsfSchedule[index++] = BV(CRSF_FRAME_RPM_INDEX);
#endif
#if defined(USE_ESC_SENSOR) || defined(USE_TEMPERATURE_SENSOR)
crsfSchedule[index++] = BV(CRSF_FRAME_TEMP_INDEX);
#endif
#ifdef USE_PITOT
if (sensors(SENSOR_PITOT)) {
crsfSchedule[index++] = BV(CRSF_FRAME_AIRSPEED_INDEX);
}
#endif
crsfScheduleCount = (uint8_t)index;
}
Expand Down