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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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msg/versioned/VehicleCommand.msg
+7
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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