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feat(crsf_rc): add CRSF receiver bind command

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Add ability to initiate CRSF receiver binding from QGroundControl or
the NSH console. When MAV_CMD_START_RX_PAIR is received with
RC_TYPE_CRSF, the driver sends the CRSF bind command frame over UART.

Binding is rejected when armed or on singlewire configurations.

Also adds RC_TYPE and RC_SUB_TYPE constants to VehicleCommand.msg and
replaces magic numbers in DsmRc and RCInput drivers.

Based on PX4/PX4-Autopilot#23294.
This commit is contained in:
Jacob Dahl 2026-03-17 19:11:33 -08:00
parent 3b28390a2e
commit 2bf50badf4
5 changed files with 102 additions and 13 deletions
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7
msg/versioned/VehicleCommand.msg
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@ -180,6 +180,13 @@ 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

74
src/drivers/rc/crsf_rc/CrsfRc.cpp
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@ -37,11 +37,6 @@
#include <fcntl.h>
#include <uORB/topics/battery_status.h>
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_status.h>
using namespace time_literals;
ModuleBase::Descriptor CrsfRc::desc{task_spawn, custom_command, print_usage};
@ -192,6 +187,47 @@ void CrsfRc::Run()
const hrt_abstime time_now_us = hrt_absolute_time();
perf_count_interval(_cycle_interval_perf, time_now_us);
if (_vehicle_status_sub.updated()) {
vehicle_status_s vehicle_status;
if (_vehicle_status_sub.copy(&vehicle_status)) {
_armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
}
}
/* vehicle command */
vehicle_command_s vcmd;
if (_vehicle_cmd_sub.update(&vcmd)) {
// Check for a pairing command
if (vcmd.command == vehicle_command_s::VEHICLE_CMD_START_RX_PAIR) {
uint8_t cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
if (!_is_singlewire && !_armed) {
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;
}
}
} else {
cmd_ret = vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
// publish acknowledgement
vehicle_command_ack_s command_ack{};
command_ack.command = vcmd.command;
command_ack.result = cmd_ret;
command_ack.target_system = vcmd.source_system;
command_ack.target_component = vcmd.source_component;
command_ack.timestamp = hrt_absolute_time();
uORB::Publication<vehicle_command_ack_s> vehicle_command_ack_pub{ORB_ID(vehicle_command_ack)};
vehicle_command_ack_pub.publish(command_ack);
}
}
// Read all available data from the serial RC input UART
int new_bytes = _uart->readAtLeast(&_rcs_buf[0], RC_MAX_BUFFER_SIZE, 1, 100);
@ -518,6 +554,23 @@ bool CrsfRc::SendTelemetryFlightMode(const char *flight_mode)
return _uart->write((void *) buf, (size_t) offset);
}
bool CrsfRc::BindCRSF()
{
uint8_t bind_frame[] = {
0xC8, // sync
0x07, // frame length
(uint8_t)crsf_frame_type_t::command,
(uint8_t)crsf_address_t::crsf_receiver,
(uint8_t)crsf_address_t::flight_controller,
(uint8_t)crsf_sub_command_t::subcmd_rx,
(uint8_t)crsf_sub_command_t::subcmd_rx_bind,
0x9E, // command CRC8
0xE8, // packet CRC8
};
return _uart->write((void *)bind_frame, sizeof(bind_frame));
}
int CrsfRc::print_status()
{
if (_device[0] != '\0') {
@ -547,6 +600,16 @@ int CrsfRc::print_status()
int CrsfRc::custom_command(int argc, char *argv[])
{
if (!strcmp(argv[0], "bind")) {
uORB::Publication<vehicle_command_s> vehicle_command_pub{ORB_ID(vehicle_command)};
vehicle_command_s vcmd{};
vcmd.command = vehicle_command_s::VEHICLE_CMD_START_RX_PAIR;
vcmd.param1 = vehicle_command_s::RC_TYPE_CRSF;
vcmd.timestamp = hrt_absolute_time();
vehicle_command_pub.publish(vcmd);
return 0;
}
#ifdef CONFIG_RC_CRSF_INJECT
if (!strcmp(argv[0], "start")) {
@ -604,6 +667,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
PRINT_MODULE_USAGE_SUBCATEGORY("radio_control");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "Send a CRSF bind command (not available on singlewire)");
#ifdef CONFIG_RC_CRSF_INJECT
PRINT_MODULE_USAGE_COMMAND_DESCR("inject", "Inject frame data bytes (for testing)");
#endif

18
src/drivers/rc/crsf_rc/CrsfRc.hpp
View File

@ -53,6 +53,8 @@
#include <uORB/topics/vehicle_attitude.h>
#include <uORB/topics/sensor_gps.h>
#include <uORB/topics/vehicle_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
using namespace device;
@ -92,10 +94,13 @@ private:
bool SendTelemetryFlightMode(const char *flight_mode);
bool BindCRSF();
Serial *_uart = nullptr; ///< UART interface to RC
char _device[20] {}; ///< device / serial port path
bool _is_singlewire{false};
bool _armed{false};
static constexpr size_t RC_MAX_BUFFER_SIZE{64};
uint8_t _rcs_buf[RC_MAX_BUFFER_SIZE] {};
@ -114,6 +119,7 @@ private:
uORB::Subscription _vehicle_attitude_sub{ORB_ID(vehicle_attitude)};
uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
enum class crsf_frame_type_t : uint8_t {
gps = 0x02,
@ -140,6 +146,18 @@ private:
attitude = 6,
};
enum class crsf_address_t : uint8_t {
broadcast = 0x00,
flight_controller = 0xC8,
crsf_receiver = 0xEC,
crsf_transmitter = 0xEE
};
enum class crsf_sub_command_t : uint8_t {
subcmd_rx = 0x10,
subcmd_rx_bind = 0x01,
};
void WriteFrameHeader(uint8_t *buf, int &offset, const crsf_frame_type_t type, const uint8_t payload_size);
void WriteFrameCrc(uint8_t *buf, int &offset, const int buf_size);

8
src/drivers/rc/dsm_rc/DsmRc.cpp
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@ -166,19 +166,19 @@ void DsmRc::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;
}

8
src/drivers/rc_input/RCInput.cpp
View File

@ -388,19 +388,19 @@ 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;
}