Fix IRC tramp for both protocol varients.

Prevent IRC tramp from briefly entering pitmode at startup.
Backout of PR #10166, ensuring pitmode can be correctly set from OSD and MSP.
Add CLI option to allow non-conforming tramp implementations to work with betaflight.

docs/Cli.md

@@ -283,6 +283,7 @@ Click on a variable to jump to the relevant documentation page.
 | `vtx_channel`                                 | Channel to use within the configured `vtx_band`. Valid values are [1, 8].                                                                                                                                                                                                                                                                                                                                                                                                                                                | 1      | 8      | 1                | Master       | UINT8    |
 | `vtx_freq`                                    | Set the VTX frequency using raw MHz. This parameter is ignored unless `vtx_band` is 0.                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 5900   | 5740             | Master       | UINT16   |
 | `vtx_halfduplex`                              | Use half duplex UART to communicate with the VTX, using only a TX pin in the FC.                                                                                                                                                                                                                                                                                                                                                                                                                                         | OFF    | ON     | ON               | Master       | UINT8    |
+| `vtx_tramp_pitmode_inverted`                  | Invert tramp pitmode status returned from device. May be required for some VTX's which don't implement the tramp protocol correctly (Matek are a known example).                                                                                                                                                                                                                                                                                                                                                         | OFF    | ON     | ON               | Master       | UINT8    |
 | `vtx_low_power_disarm`                        | When the craft is disarmed, set the VTX to its lowest power. `ON` will set the power to its minimum value on startup, increase it to `vtx_power` when arming and change it back to its lowest setting after disarming. `UNTIL_FIRST_ARM` will start with minimum power, but once the craft is armed it will increase to `vtx_power` and it will never decrease until the craft is power cycled.                                                                                                                          |        |        | OFF              | Master       | UINT8    |
 | `vtx_pit_mode_freq`                           | Frequency to use (in MHz) when the VTX is in pit mode.                                                                                                                                                                                                                                                                                                                                                                                                                                                                   | 0      | 5900   | 0                | Master       | UINT16   |
 | `vtx_power`                                   | VTX RF power level to use. The exact number of mw depends on the VTX hardware.                                                                                                                                                                                                                                                                                                                                                                                                                                           | 0      | 3      | 1                | Master       | UINT8    |

src/main/cli/settings.c

@@ -1464,6 +1464,9 @@ const clivalue_t valueTable[] = {
 #if defined(USE_VTX_CONTROL) && defined(USE_VTX_COMMON)
     { "vtx_halfduplex",             VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_CONFIG, offsetof(vtxConfig_t, halfDuplex) },
 #endif
+#ifdef USE_VTX_TRAMP
+    { "vtx_tramp_pitmode_inverted", VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_CONFIG, offsetof(vtxConfig_t, trampPitModeInverted) },
+#endif
 
 // PG_VTX_IO
 #ifdef USE_VTX_RTC6705

src/main/io/vtx.c

@@ -185,11 +185,16 @@ static bool vtxProcessPower(vtxDevice_t *vtxDevice)
 
 static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
 {
+    static bool prevPmSwitchState = false;
+
     unsigned vtxStatus;
-    if (vtxCommonGetStatus(vtxDevice, &vtxStatus)) {
+    if (!ARMING_FLAG(ARMED) && vtxCommonGetStatus(vtxDevice, &vtxStatus)) {
         bool currPmSwitchState = IS_RC_MODE_ACTIVE(BOXVTXPITMODE);
+
+        if (currPmSwitchState != prevPmSwitchState) {
+            prevPmSwitchState = currPmSwitchState;
+
             if (currPmSwitchState) {
-            if (!ARMING_FLAG(ARMED)) {
 #if defined(VTX_SETTINGS_FREQCMD)
                 if (vtxSettingsConfig()->pitModeFreq) {
                     return false;
@@ -200,7 +205,6 @@ static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
 
                     return true;
                 }
-            }
             } else {
                 if (vtxStatus & VTX_STATUS_PIT_MODE) {
                     vtxCommonSetPitMode(vtxDevice, false);
@@ -209,6 +213,7 @@ static bool vtxProcessPitMode(vtxDevice_t *vtxDevice)
                 }
             }
         }
+    }
 
     return false;
 }

src/main/io/vtx_control.h

@@ -41,6 +41,7 @@ typedef struct vtxChannelActivationCondition_s {
 typedef struct vtxConfig_s {
     vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT];
     uint8_t halfDuplex;
+    uint8_t trampPitModeInverted;
 } vtxConfig_t;
 
 PG_DECLARE(vtxConfig_t, vtxConfig);

src/main/io/vtx_smartaudio.c

@@ -918,8 +918,6 @@ static void vtxSASetPowerByIndex(vtxDevice_t *vtxDevice, uint8_t index)
 
 static void vtxSASetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
 {
-    static bool lastOnOff = false;
-
     if (!vtxSAIsReady(vtxDevice) || saDevice.version < 2) {
         return;
     }
@@ -929,12 +927,6 @@ static void vtxSASetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
         return;
     }
 
-    // Only issue pit mode commands on status change
-    if (lastOnOff == onoff) {
-        return;
-    }
-    lastOnOff = onoff;
-
     if (saDevice.version >= 3 && !saDevice.willBootIntoPitMode) {
         if (onoff) {
             // enable pitmode using SET_POWER command with 0 dbm.

src/main/io/vtx_tramp.c

@@ -94,6 +94,7 @@ typedef enum {
     TRAMP_STATUS_ONLINE_CONFIG
 } trampStatus_e;
 
+// Module state
 static trampStatus_e trampStatus = TRAMP_STATUS_OFFLINE;
 
 // Device limits, read from device during init
@@ -105,20 +106,20 @@ static uint32_t trampRFPowerMax;
 static uint32_t trampCurFreq = 0;
 static uint16_t trampCurConfPower = 0; // Configured power
 static uint16_t trampCurActPower = 0; // Actual power
-static uint8_t trampCurPitMode = 0;
+static uint8_t trampCurPitMode = 0; // Expect to startup out of pitmode
 static int16_t trampCurTemp = 0;
 static uint8_t trampCurControlMode = 0;
 
 // Device configuration, desired state of device
 static uint32_t trampConfFreq = 0;
 static uint16_t trampConfPower = 0;
-static uint8_t trampConfPitMode = 0;
+static uint8_t trampConfPitMode = 0; // Initially configured out of pitmode
 
 // Last device configuration, last desired state of device - used to reset
 // retry count
 static uint32_t trampLastConfFreq = 0;
 static uint16_t trampLastConfPower = 0;
-static uint8_t trampLastConfPitMode = 0;
+static uint8_t trampLastConfPitMode = 0; // Mirror trampConfPitMode
 
 // Retry count
 static uint8_t trampRetryCount = TRAMP_MAX_RETRIES;
@@ -210,7 +211,13 @@ static char trampHandleResponse(void)
                 trampCurFreq = freq;
                 trampCurConfPower = trampRespBuffer[4]|(trampRespBuffer[5] << 8);
                 trampCurControlMode = trampRespBuffer[6]; // Currently only used for race lock
+                if (vtxConfig()->trampPitModeInverted) {
+                    // Invert pitmode (for devices which don't implement protocol correctly)
+                    trampCurPitMode = !trampRespBuffer[7];
+                } else {
+                    // Use official pitmode value
                     trampCurPitMode = trampRespBuffer[7];
+                }
                 trampCurActPower = trampRespBuffer[8]|(trampRespBuffer[9] << 8);
 
                 // Init config with current status if not set
@@ -325,7 +332,7 @@ static void trampQuery(uint8_t cmd)
 static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
 {
     UNUSED(vtxDevice);
-    uint8_t configUpdateRequired = 0;
+    bool configUpdateRequired = false;
 
     // Read response from device
     const char replyCode = trampReceive();
@@ -374,19 +381,19 @@ static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
                     trampSendCommand('F', trampConfFreq);
 
                     // Set flag
-                    configUpdateRequired = 1;
+                    configUpdateRequired = true;
                 } else if (!trampVtxRaceLockEnabled() && (trampConfPower != trampCurConfPower)) {
                     // Power can be and needs to be updated, issue request
                     trampSendCommand('P', trampConfPower);
 
                     // Set flag
-                    configUpdateRequired = 1;
+                    configUpdateRequired = true;
                 } else if (trampConfPitMode != trampCurPitMode) {
                     // Pit mode needs to be updated, issue request
-                    trampSendCommand('I', trampConfPitMode);
+                    trampSendCommand('I', trampConfPitMode ? 0 : 1);
 
                     // Set flag
-                    configUpdateRequired = 1;
+                    configUpdateRequired = true;
                 }
 
                 if (configUpdateRequired) {
@@ -464,7 +471,14 @@ static void vtxTrampProcess(vtxDevice_t *vtxDevice, timeUs_t currentTimeUs)
 
     DEBUG_SET(DEBUG_VTX_TRAMP, 0, trampStatus);
     DEBUG_SET(DEBUG_VTX_TRAMP, 1, replyCode);
-    DEBUG_SET(DEBUG_VTX_TRAMP, 2, configUpdateRequired);
+    DEBUG_SET(DEBUG_VTX_TRAMP, 2, ((trampConfPitMode << 14) &              0xC000) |
+                                  ((trampCurPitMode << 12) &               0x3000) |
+                                  ((trampConfPower << 8) &                 0x0F00) |
+                                  ((trampCurConfPower << 4) &              0x00F0) |
+                                  ((trampConfFreq != trampCurFreq) ?       0x0008 : 0x0000) |
+                                  ((trampConfPower != trampCurConfPower) ? 0x0004 : 0x0000) |
+                                  ((trampConfPitMode != trampCurPitMode) ? 0x0002 : 0x0000) |
+                                  (configUpdateRequired ?                  0x0001 : 0x0000));
     DEBUG_SET(DEBUG_VTX_TRAMP, 3, trampRetryCount);
 
 #ifdef USE_CMS
@@ -515,7 +529,7 @@ static void vtxTrampSetPitMode(vtxDevice_t *vtxDevice, uint8_t onoff)
 {
     UNUSED(vtxDevice);
 
-    trampConfPitMode = onoff ? 0 : 1; // note inverted values
+    trampConfPitMode = onoff;
     if (trampConfPitMode != trampLastConfPitMode) {
         // Requested pitmode changed, reset retry count
         trampRetryCount = TRAMP_MAX_RETRIES;
@@ -602,8 +616,10 @@ static bool vtxTrampGetStatus(const vtxDevice_t *vtxDevice, unsigned *status)
         return false;
     }
 
-    // Return pitmode from latest query response
+    // Mirror configued pit mode state rather than use current pitmode as we
-    *status = (trampCurPitMode ? 0 : VTX_STATUS_PIT_MODE);
+    // should, otherwise the logic in vtxProcessPitMode may not get us to the
+    // correct state if pitmode is toggled quickly
+    *status = (trampConfPitMode ? VTX_STATUS_PIT_MODE : 0);
 
     // Check VTX is not locked
     *status |= ((trampCurControlMode & TRAMP_CONTROL_RACE_LOCK) ? VTX_STATUS_LOCKED : 0);