AP_RCProtocol: IBUS hack for FlySky IA6 receiver #28306
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…eceiver (took idea from INAV)
davidbuzz
approved these changes
Oct 6, 2024
peterbarker
requested changes
Oct 6, 2024
| @@ -69,23 +110,32 @@ void AP_RCProtocol_IBUS::_process_byte(uint32_t timestamp_us, uint8_t b) | |||
| const bool have_frame_gap = (timestamp_us - byte_input.last_byte_us >= 2000U); | |||
| byte_input.last_byte_us = timestamp_us; | |||
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| if (byte_input.ofs == 0) | ||
| { |
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| if (byte_input.ofs == 0) | |
| { | |
| if (byte_input.ofs == 0) { |
| @@ -20,10 +20,12 @@ | |||
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| #include "AP_RCProtocol_IBUS.h" | |||
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| static int ia6_hack = 0; | |||
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Better to have an AP_RCProtocol_IBUS_IA6 subclass so that other users can use this modified decoder by using the custom build server.
| { | ||
| uint32_t chksum = 96; | ||
| uint16_t chksum = 96; |
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Are you sure this is correct?
ie. the checksum definition must state that your result is modulo UINT16_MAX. If it does not then you may pass the checksum when you shouldn't.
| if (b != 0x20 && byte_input.ofs == 0) { | ||
| // definately not IBUS, missing header byte | ||
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| if ( !( (b == 0x20) || (b == 0x55) ) && byte_input.ofs == 0) { |
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Will need a virtual method to return expected header byte
| byte_input.buf[byte_input.ofs++] = b; | ||
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| if (byte_input.ofs == sizeof(byte_input.buf)) { | ||
| if (byte_input.ofs == (sizeof(byte_input.buf)-ia6_hack)) // IA6 has one byte less |
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Will need a callback for expected number of bytes in a packet
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This PR adds support for slightly modified IBUS protocol for cheap FlySky IA6 receiver.
See https://www.youtube.com/watch?v=qEUB6GJQmRc