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feat: support for ELRS/CRSF 0x03 GPS time frame (#7317)

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This commit is contained in:
3djc
2026-05-05 13:07:13 +10:00
committed by GitHub
parent 0a375843f8
commit 3688e29cfe
2 changed files with 30 additions and 0 deletions
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radio/src/telemetry/crossfire.cpp
+28
View File
@@ -66,6 +66,7 @@ const CrossfireSensor crossfireSensors[] = {
CS(GPS_ID, 3, STR_DEF(STR_SENSOR_HDG), UNIT_DEGREE, 2),
CS(GPS_ID, 4, STR_DEF(STR_SENSOR_GPSALT), UNIT_METERS, 0),
CS(GPS_ID, 5, STR_DEF(STR_SENSOR_SATELLITES), UNIT_RAW, 0),
CS(GPS_TIME_ID, 0, STR_DEF(STR_SENSOR_GPSDATETIME), UNIT_DATETIME, 0),
CS(ATTITUDE_ID, 0, STR_DEF(STR_SENSOR_PITCH), UNIT_RADIANS, 3),
CS(ATTITUDE_ID, 1, STR_DEF(STR_SENSOR_ROLL), UNIT_RADIANS, 3),
CS(ATTITUDE_ID, 2, STR_DEF(STR_SENSOR_YAW), UNIT_RADIANS, 3),
@@ -95,6 +96,8 @@ const CrossfireSensor & getCrossfireSensor(uint8_t id, uint8_t subId)
return crossfireSensors[BATT_VOLTAGE_INDEX + subId];
else if (id == GPS_ID)
return crossfireSensors[GPS_LATITUDE_INDEX + subId];
else if (id == GPS_TIME_ID)
return crossfireSensors[GPS_TIME_INDEX];
else if (id == CF_VARIO_ID)
return crossfireSensors[VERTICAL_SPEED_INDEX];
else if (id == ATTITUDE_ID)
@@ -176,6 +179,31 @@ void processCrossfireTelemetryFrame(uint8_t module, uint8_t* rxBuffer,
processCrossfireTelemetryValue(GPS_SATELLITES_INDEX, value);
break;
case GPS_TIME_ID:
{
// Payload: year (2B BE), month, day, hour, min, sec, millisecond (2B BE)
const CrossfireSensor & sensor = crossfireSensors[GPS_TIME_INDEX];
if (!getCrossfireTelemetryValue<2>(3, value, rxBuffer))
break;
uint8_t year = (uint8_t)((uint16_t)value - 2000);
uint8_t month = rxBuffer[5];
uint8_t day = rxBuffer[6];
uint8_t hour = rxBuffer[7];
uint8_t minute = rxBuffer[8];
uint8_t sec = rxBuffer[9];
// Date record: low byte non-zero (acts as date/time discriminator)
uint32_t dateVal = ((uint32_t)year << 24) | ((uint32_t)month << 16)
| ((uint32_t)day << 8) | 0xFF;
setTelemetryValue(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id, 0, sensor.subId,
(int32_t)dateVal, UNIT_DATETIME, 0);
// Time record: low byte zero
uint32_t timeVal = ((uint32_t)hour << 24) | ((uint32_t)minute << 16)
| ((uint32_t)sec << 8);
setTelemetryValue(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id, 0, sensor.subId,
(int32_t)timeVal, UNIT_DATETIME, 0);
break;
}
case BARO_ALT_ID:
if (getCrossfireTelemetryValue<2>(3, value, rxBuffer)) {
if (value & 0x8000) {
radio/src/telemetry/crossfire.h
+2
View File
@@ -32,6 +32,7 @@
// Frame id
#define GPS_ID 0x02
#define GPS_TIME_ID 0x03
#define CF_VARIO_ID 0x07
#define BATTERY_ID 0x08
#define BARO_ALT_ID 0x09
@@ -85,6 +86,7 @@ enum CrossfireSensorIndexes {
GPS_HEADING_INDEX,
GPS_ALTITUDE_INDEX,
GPS_SATELLITES_INDEX,
GPS_TIME_INDEX,
ATTITUDE_PITCH_INDEX,
ATTITUDE_ROLL_INDEX,
ATTITUDE_YAW_INDEX,