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feat(crsf_rc): add CRSF receiver bind command (#26790)

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* feat(crsf_rc): add CRSF receiver bind command

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.

* style(crsf_rc): use C++ style comment

* style(crsf_rc): zero-init vcmd, remove noisy comments, drop unused enum value

* fix(rc): check write return value in BindCRSF, guard Spektrum bind against invalid sub-type

* fix(rc): warn and deny invalid Spektrum bind sub-type

Previously, an unrecognized param2 sub-type would silently leave
dsm_bind_pulses at 0 and return the generic UNSUPPORTED ACK. Add an
explicit else-branch that logs a PX4_WARN and returns DENIED so users
get clear feedback in QGC.
This commit is contained in:
Jacob Dahl
2026-05-15 21:42:53 -04:00
committed by GitHub
parent 6900fe621c
commit 8bd42e728e
5 changed files with 111 additions and 19 deletions
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7
msg/versioned/VehicleCommand.msg
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@@ -191,6 +191,13 @@ 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