CRSF bind based on rc_type 1

PX4 · Nov 5, 2024 · 77c14e7 · 77c14e7
1 parent 8b0d2c9
commit 77c14e7
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/src/drivers/rc/crsf_rc/CrsfRc.cpp b/src/drivers/rc/crsf_rc/CrsfRc.cpp
@@ -195,9 +195,15 @@ void CrsfRc::Run()
 			uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
 
 			if (!_is_singlewire && !_armed) {
-				if (BindCRSF()) {
-					cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
+				if ((int)vcmd.param1 == 1) {
+					// CRSF binding command
+					if (BindCRSF()) {
+						cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
+					}
 				}
+
+			} else {
+				cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
 			}
 
 			// publish acknowledgement