rc drivers: fix RC_TYPE magic numbers with vehicleCommand constants

PX4 · Dec 16, 2024 · 1336fb2 · 1336fb2
1 parent 33781a0
commit 1336fb2
Show file tree

Hide file tree

Showing 3 changed files with 12 additions and 5 deletions.
diff --git a/msg/versioned/VehicleCommand.msg b/msg/versioned/VehicleCommand.msg
@@ -169,6 +169,13 @@ uint8 ORBIT_YAW_BEHAVIOUR_HOLD_FRONT_TANGENT_TO_CIRCLE = 3
 uint8 ORBIT_YAW_BEHAVIOUR_RC_CONTROLLED = 4
 uint8 ORBIT_YAW_BEHAVIOUR_UNCHANGED = 5
 
+# used as param1&2 in CMD_START_RX_PAIR
+uint8 RC_TYPE_SPEKTRUM = 0
+uint8 RC_TYPE_CRSF = 1
+uint8 RC_SUB_TYPE_SPEKTRUM_DSM2 = 0
+uint8 RC_SUB_TYPE_SPEKTRUM_DSMX = 1
+uint8 RC_SUB_TYPE_SPEKTRUM_DSMX8 = 2
+
 # used as param1 in ARM_DISARM command
 int8 ARMING_ACTION_DISARM = 0
 int8 ARMING_ACTION_ARM = 1

diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp
@@ -195,7 +195,7 @@ void CrsfRc::Run()
 			uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 			if (!_is_singlewire && !_armed) {
-				if ((int)vcmd.param1 == 1) {
+				if ((int)vcmd.param1 == vehicle_command_s::RC_TYPE_CRSF) {
 					// CRSF binding command
 					if (BindCRSF()) {
 						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;

diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp
@@ -374,19 +374,19 @@ void RCInput::Run()
 #if defined(SPEKTRUM_POWER)
 
 				if (!_rc_scan_locked && !_armed) {
-					if ((int)vcmd.param1 == 0) {
+					if ((int)vcmd.param1 == vehicle_command_s::RC_TYPE_SPEKTRUM) {
 						// DSM binding command
 						int dsm_bind_mode = (int)vcmd.param2;
 
 						int dsm_bind_pulses = 0;
 
-						if (dsm_bind_mode == 0) {
+						if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSM2) {
 							dsm_bind_pulses = DSM2_BIND_PULSES;
 
-						} else if (dsm_bind_mode == 1) {
+						} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX) {
 							dsm_bind_pulses = DSMX_BIND_PULSES;
 
-						} else {
+						} else if (dsm_bind_mode == vehicle_command_s::RC_SUB_TYPE_SPEKTRUM_DSMX8) {
 							dsm_bind_pulses = DSMX8_BIND_PULSES;
 						}