[vtx] Add VTX driver with Tramp and SmartAudio support

msg/CMakeLists.txt

@@ -240,6 +240,7 @@ set(msg_files
 	VehicleThrustSetpoint.msg
 	VehicleTorqueSetpoint.msg
 	VelocityLimits.msg
+	Vtx.msg
 	WheelEncoders.msg
 	YawEstimatorStatus.msg
 	versioned/ActuatorMotors.msg

msg/Vtx.msg

@@ -0,0 +1,32 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 BAND_NAME_LENGTH = 12
+uint8 POWER_LABEL_LENGTH = 4
+
+uint8 PROTOCOL_NONE = 0              # No protocol is detected, usually an error
+uint8 PROTOCOL_SMART_AUDIO_V1 = 10
+uint8 PROTOCOL_SMART_AUDIO_V2 = 20
+uint8 PROTOCOL_SMART_AUDIO_V2_1 = 21
+uint8 PROTOCOL_TRAMP = 100
+uint8 protocol
+
+uint8 DEVICE_UNKNOWN = 0
+uint8 DEVICE_PEAK_THOR_T67 = 20
+uint8 DEVICE_RUSH_MAX_SOLO = 40
+uint8 device
+
+uint8 MODE_NORMAL = 0
+uint8 MODE_PIT = 1
+uint8 mode
+
+# Band and Channel are 0-indexed! But the user expects a 1-indexed display!
+int8 band        # Band number (0-23), negative values indicate frequency mode
+int8 channel     # Channel number (0-15), negative values indicate frequency mode
+uint16 frequency # Frequency in MHz, zero indicates unknown
+
+uint8 band_letter   # Band letter as ASCII
+uint8[12] band_name # Band name in ASCII without null termination
+
+# Also 0-indexed, but the user expects a 1-indexed display!
+int8 power_level     # Current power level (0-15), negative values indicate unknown
+uint8[4] power_label # Current power label in ASCII without null termination

msg/VtxAuxMap.msg

@@ -0,0 +1,13 @@
+uint64 timestamp # time since system start (microseconds)
+
+# See https://betaflight.com/docs/wiki/guides/current/VTX-CLI-Settings#change-vtx-power-level-using-aux-channel
+
+uint8 MAX_LENGTH = 160
+
+uint8 length
+int8[160] aux_channel
+int8[160] band
+int8[160] channel
+int8[160] power_level
+int16[160] start_range
+int16[160] end_range

msg/VtxTable.msg

@@ -0,0 +1,35 @@
+uint64 timestamp # time since system start (microseconds)
+
+uint8 NAME_LENGTH = 16
+uint8 BAND_NAME_LENGTH = 12
+uint8 POWER_LABEL_LENGTH = 4
+uint8 CHANNELS = 16
+uint8 BANDS = 24
+uint8 POWER_LEVELS = 16
+
+# Configuration name in ASCII without null termination
+uint8[16] name
+
+uint8 bands
+uint8 channels
+# Frequency is in MHz
+# Invalid frequencies are set to 0
+uint16[384] frequency # 24*16 = 384
+
+# Band names in ASCII without null termination
+uint8[288] band_name # 24*12 = 288
+
+# Band letters in ASCII
+uint8[24] letter
+
+# Band attributes
+uint8 ATTRIBUTE_FACTORY = 0
+uint8 ATTRIBUTE_CUSTOM = 1
+uint8[24] attribute
+
+uint8 power_levels
+# Positive values are the exact value the VTX protocol expects to set the power level
+# Negative values are alternative values depending on the VTX protocol and device
+int16[16] power_value
+# The power labels as ASCII without null termination
+uint8[64] power_label # 4*16 = 64