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Prevent conflicts between CRSF and GHST leading to radio failsafes #26118

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Feb 5, 2024
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Prevent conflicts between CRSF and GHST leading to radio failsafes #26118

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4 changes: 4 additions & 0 deletions libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,10 @@ class AP_RCProtocol_Backend {
return frontend.rc_protocols_mask;
}

bool protocol_enabled(enum AP_RCProtocol::rcprotocol_t protocol) const {
return frontend.protocol_enabled(protocol);
}

// get RSSI
int16_t get_RSSI(void) const {
return rssi;
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6 changes: 5 additions & 1 deletion libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
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Expand Up @@ -238,6 +238,10 @@ void AP_RCProtocol_CRSF::_process_byte(uint32_t timestamp_us, uint8_t byte)
return;
}

if (_frame.device_address != DeviceAddress::CRSF_ADDRESS_FLIGHT_CONTROLLER) {
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return;
}

// parse the length
if (_frame_ofs == CSRF_HEADER_TYPE_LEN) {
_frame_crc = crc8_dvb_s2(0, _frame.type);
Expand Down Expand Up @@ -617,7 +621,7 @@ void AP_RCProtocol_CRSF::process_handshake(uint32_t baudrate)
|| baudrate != CRSF_BAUDRATE
|| baudrate == get_bootstrap_baud_rate()
|| uart->get_baud_rate() == get_bootstrap_baud_rate()
|| (get_rc_protocols_mask() & ((1U<<(uint8_t(AP_RCProtocol::CRSF)+1))+1)) == 0) {
|| !protocol_enabled(AP_RCProtocol::CRSF)) {
return;
}

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11 changes: 8 additions & 3 deletions libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -152,6 +152,10 @@ void AP_RCProtocol_GHST::_process_byte(uint32_t timestamp_us, uint8_t byte)
return;
}

if (_frame.device_address != DeviceAddress::GHST_ADDRESS_FLIGHT_CONTROLLER) {
return;
}

// parse the length
if (_frame_ofs == GHST_HEADER_TYPE_LEN) {
_frame_crc = crc8_dvb_s2(0, _frame.type);
Expand Down Expand Up @@ -421,17 +425,18 @@ void AP_RCProtocol_GHST::process_byte(uint8_t byte, uint32_t baudrate)
_process_byte(AP_HAL::micros(), byte);
}

// change the bootstrap baud rate to ELRS standard if configured
// change the bootstrap baud rate to Ghost standard if configured
void AP_RCProtocol_GHST::process_handshake(uint32_t baudrate)
{
AP_HAL::UARTDriver *uart = get_current_UART();

// only change the baudrate if we are bootstrapping CRSF
// only change the baudrate if we are specifically bootstrapping Ghost
if (uart == nullptr
|| baudrate != CRSF_BAUDRATE
|| baudrate == GHST_BAUDRATE
|| uart->get_baud_rate() == GHST_BAUDRATE
|| (get_rc_protocols_mask() & ((1U<<(uint8_t(AP_RCProtocol::GHST)+1))+1)) == 0) {
|| !protocol_enabled(AP_RCProtocol::GHST)
|| protocol_enabled(AP_RCProtocol::CRSF)) {
return;
}

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