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Jacob Dahl 5ea7337a31 feat(crsf): add local altitude/vertical-speed telemetry and fix GPS frame (#27948 )

* fix(crsf): correct GPS telemetry ground speed, course, and altitude offset

Ground speed was sent from the NED down-velocity component with the km/h conversion inverted, course over ground wraps negative values through the uint16 field, and the rc_input frame applied a +1 m offset where the protocol expects +1000 m.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* feat(crsf): send local altitude and vertical speed telemetry

Add the CRSF barometric altitude frame (0x09), fed from vehicle_local_position, to both the crsf_rc driver and the legacy rc_input telemetry. Shows up as Alt and VSpd sensors on EdgeTX/OpenTX radios, complementing the MSL altitude already sent in the GPS frame.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

* docs(crsf): clarify local-altitude telemetry semantics and units

Note that the Alt/VSpd sensors reuse the CRSF baro-altitude frame to carry PX4's fused local altitude (above the estimator origin), not a raw barometer reading, and document the EdgeTX version requirements. Add terse unit comments on the GPS-frame fields.

Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

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Signed-off-by: Jacob Dahl <dahl.jakejacob@gmail.com>

2026-07-19 10:16:23 -06:00