AP_RCTelemetry: only update VTX parameters if CRSF provider was enabled

ArduPilot · May 29, 2024 · 304751e · 304751e
1 parent 607249d
commit 304751e
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Showing 2 changed files with 11 additions and 8 deletions.
diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp b/libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp
@@ -66,6 +66,11 @@ bool AP_CRSF_Telem::init(void)
         return false;
     }
 
+    // Someone explicitly configure CRSF control for VTX
+    if (AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_CRSF, 0)) {
+        AP::vtx().set_provider_enabled(AP_VideoTX::VTXType::CRSF);
+    }
+
     return AP_RCTelemetry::init();
 }
 
@@ -569,6 +574,8 @@ void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
         return;
     }
 
+    apvtx.set_provider_enabled(AP_VideoTX::VTXType::CRSF);
+
     apvtx.set_band(vtx->band);
     apvtx.set_channel(vtx->channel);
     if (vtx->is_in_user_frequency_mode) {
@@ -615,6 +622,8 @@ void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx)
         return;
     }
 
+    apvtx.set_provider_enabled(AP_VideoTX::VTXType::CRSF);
+
     apvtx.set_frequency_mhz(vtx->frequency);
 
     AP_VideoTX::VideoBand band;
@@ -746,11 +755,6 @@ void AP_CRSF_Telem::process_param_read_frame(ParameterSettingsReadFrame* read_fr
     _pending_request.frame_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_PARAMETER_READ;
 }
 
-// process any changed settings and schedule for transmission
-void AP_CRSF_Telem::update()
-{
-}
-
 void AP_CRSF_Telem::process_pending_requests()
 {
     // handle general parameter requests
@@ -781,7 +785,8 @@ void AP_CRSF_Telem::update_vtx_params()
 {
     AP_VideoTX& vtx = AP::vtx();
 
-    if (!vtx.get_enabled()) {
+    // This function does ugly things with the vtx parameters which will upset other providers
+    if (!vtx.get_enabled() || !vtx.is_provider_enabled(AP_VideoTX::VTXType::CRSF)) {
         return;
     }
 

diff --git a/libraries/AP_RCTelemetry/AP_CRSF_Telem.h b/libraries/AP_RCTelemetry/AP_CRSF_Telem.h
@@ -243,8 +243,6 @@ class AP_CRSF_Telem : public AP_RCTelemetry {
 
     // Process a frame from the CRSF protocol decoder
     static bool process_frame(AP_RCProtocol_CRSF::FrameType frame_type, void* data);
-    // process any changed settings and schedule for transmission
-    void update();
     // get next telemetry data for external consumers of SPort data
     static bool get_telem_data(AP_RCProtocol_CRSF::Frame* frame, bool is_tx_active);
     // start bind request