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AP_MSP:add option for backward compatibility #26966

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AP_MSP:add option for backward compatibility #26966

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4 changes: 2 additions & 2 deletions libraries/AP_MSP/AP_MSP.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -44,8 +44,8 @@ const AP_Param::GroupInfo AP_MSP::var_info[] = {

// @Param: _OPTIONS
// @DisplayName: MSP OSD Options
// @Description: A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts.
// @Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts
// @Description: A bitmask to set some MSP specific options: EnableTelemetryMode-allows "push" mode telemetry when only rx line of OSD ic connected to autopilot, EnableBTFLFonts-uses indexes corresponding to Betaflight fonts if OSD uses those instead of ArduPilot fonts. Raw MSP RC- uses directly received RC input for MSP telem as did prior versions to 4.6 reported instead of scaled/reversed
// @Bitmask: 0:EnableTelemetryMode, 1: unused, 2:EnableBTFLFonts, 3: Raw MSP RC
// @User: Standard
AP_GROUPINFO("_OPTIONS", 2, AP_MSP, _options, 0),

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1 change: 1 addition & 0 deletions libraries/AP_MSP/AP_MSP.h
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Expand Up @@ -57,6 +57,7 @@ class AP_MSP
TELEMETRY_MODE = 1U<<0,
TELEMETRY_DISABLE_DJI_WORKAROUNDS = 1U<<1,
DISPLAYPORT_BTFL_SYMBOLS = 1U<<2,
RAW_RC_TELEM = 1U<<3,
};

bool is_option_enabled(const Option option) const;
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37 changes: 26 additions & 11 deletions libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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Expand Up @@ -1056,17 +1056,32 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rtc(sbuf_t *dst)
#if AP_RC_CHANNEL_ENABLED
MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
{
const AP_MSP *msp = AP::msp();
if (msp == nullptr) {
return MSP_RESULT_ERROR;
}
#if AP_RCMAPPER_ENABLED
const RCMapper* rcmap = AP::rcmap();
if (rcmap == nullptr) {
return MSP_RESULT_ERROR;
}

// note: rcmap channels start at 1
float roll = rc().rc_channel(rcmap->roll()-1)->norm_input_dz();
float pitch = -rc().rc_channel(rcmap->pitch()-1)->norm_input_dz();
float yaw = rc().rc_channel(rcmap->yaw()-1)->norm_input_dz();
float throttle = rc().rc_channel(rcmap->throttle()-1)->norm_input_dz();
uint16_t values[16] = {};
rc().get_radio_in(values, ARRAY_SIZE(values));
uint16_t roll = values[rcmap->roll()-1]; //A
uint16_t pitch = values[rcmap->pitch()-1]; //E
uint16_t yaw = values[rcmap->yaw()-1]; //R
uint16_t thr = values[rcmap->throttle()-1]; //T

if (!msp->is_option_enabled(AP_MSP::Option::RAW_RC_TELEM)) {
roll = rc().rc_channel(rcmap->roll()-1)->norm_input_dz();
pitch = -rc().rc_channel(rcmap->pitch()-1)->norm_input_dz();
yaw = rc().rc_channel(rcmap->yaw()-1)->norm_input_dz();
thr = rc().rc_channel(rcmap->throttle()-1)->norm_input_dz();
roll = roll * 500 + 1500;
pitch = pitch * 500 + 1500;
yaw = yaw * 500 + 1500;
thr = thr * 500 + 1500;
}

const struct PACKED {
uint16_t a;
Expand All @@ -1075,12 +1090,12 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_rc(sbuf_t *dst)
uint16_t t;
} rc {
// send only 4 channels, MSP order is AERT
a : uint16_t(roll*500+1500), // A
e : uint16_t(pitch*500+1500), // E
r : uint16_t(yaw*500+1500), // R
t : uint16_t(throttle*1000+1000) // T
a : roll, // A
e : pitch, // E
r : yaw, // R
t : thr // T
};

sbuf_write_data(dst, &rc, sizeof(rc));
return MSP_RESULT_ACK;
#else
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