Pit mode on a switch

src/main/drivers/vtx_common.h

@@ -33,9 +33,11 @@
 #define VTX_SETTINGS_BAND_COUNT     (VTX_SETTINGS_MAX_BAND - VTX_SETTINGS_MIN_BAND + 1)
 #define VTX_SETTINGS_CHANNEL_COUNT  (VTX_SETTINGS_MAX_CHANNEL - VTX_SETTINGS_MIN_CHANNEL + 1)
 
-#define VTX_SETTINGS_DEFAULT_BAND       4
+#define VTX_SETTINGS_DEFAULT_BAND               4
-#define VTX_SETTINGS_DEFAULT_CHANNEL    1
+#define VTX_SETTINGS_DEFAULT_CHANNEL            1
-#define VTX_SETTINGS_DEFAULT_FREQ       5740
+#define VTX_SETTINGS_DEFAULT_FREQ               5740
+#define VTX_SETTINGS_DEFAULT_PITMODE_FREQ       0
+#define VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM   0
 
 #define VTX_SETTINGS_MAX_FREQUENCY_MHZ 5999          //max freq (in MHz) for 'vtx_freq' setting
 
@@ -44,6 +46,8 @@
 #define VTX_SETTINGS_POWER_COUNT        5
 #define VTX_SETTINGS_DEFAULT_POWER      1
 #define VTX_SETTINGS_MIN_POWER          0
+#define VTX_SETTINGS_MIN_USER_FREQ      5000
+#define VTX_SETTINGS_MAX_USER_FREQ      5999
 #define VTX_SETTINGS_FREQCMD
 
 #elif defined(VTX_RTC6705)

src/main/fc/rc_modes.h

@@ -61,6 +61,7 @@ typedef enum {
     BOXPREARM,
     BOXBEEPGPSCOUNT,
     BOX3DONASWITCH,
+    BOXVTXPITMODE,
     CHECKBOX_ITEM_COUNT
 } boxId_e;
 

src/main/interface/msp_box.c

@@ -81,7 +81,7 @@ static const box_t boxes[CHECKBOX_ITEM_COUNT] = {
     { BOXPREARM, "PREARM", 36 },
     { BOXBEEPGPSCOUNT, "BEEP GPS SATELLITE COUNT", 37 },
     { BOX3DONASWITCH, "3D ON A SWITCH", 38 },
-
+    { BOXVTXPITMODE, "VTX PIT MODE", 39 },
 };
 
 // mask of enabled IDs, calculated on startup based on enabled features. boxId_e is used as bit index
@@ -256,6 +256,10 @@ void initActiveBoxIds(void)
     BME(BOXCAMERA3);
 #endif
 
+#if defined(VTX_SMARTAUDIO) || defined(VTX_TRAMP)
+    BME(BOXVTXPITMODE);
+#endif
+
 #undef BME
     // check that all enabled IDs are in boxes array (check may be skipped when using findBoxById() functions)
     for (boxId_e boxId = 0;  boxId < CHECKBOX_ITEM_COUNT; boxId++)
@@ -296,7 +300,8 @@ int packFlightModeFlags(boxBitmask_t *mspFlightModeFlags)
     const uint64_t rcModeCopyMask = BM(BOXHEADADJ) | BM(BOXCAMSTAB) | BM(BOXCAMTRIG) | BM(BOXBEEPERON)
         | BM(BOXLEDMAX) | BM(BOXLEDLOW) | BM(BOXLLIGHTS) | BM(BOXCALIB) | BM(BOXGOV) | BM(BOXOSD)
         | BM(BOXTELEMETRY) | BM(BOXGTUNE) | BM(BOXBLACKBOX) | BM(BOXBLACKBOXERASE) | BM(BOXAIRMODE)
-        | BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX) | BM(BOXFLIPOVERAFTERCRASH) | BM(BOX3DDISABLE) | BM(BOXBEEPGPSCOUNT);
+        | BM(BOXANTIGRAVITY) | BM(BOXFPVANGLEMIX) | BM(BOXFLIPOVERAFTERCRASH) | BM(BOX3DDISABLE)
+        | BM(BOXBEEPGPSCOUNT) | BM(BOXVTXPITMODE);
     STATIC_ASSERT(sizeof(rcModeCopyMask) * 8 >= CHECKBOX_ITEM_COUNT, copy_mask_too_small_for_boxes);
     for (unsigned i = 0; i < CHECKBOX_ITEM_COUNT; i++) {
         if ((rcModeCopyMask & BM(i))    // mode copy is enabled

src/main/interface/settings.c

@@ -764,6 +764,7 @@ const clivalue_t valueTable[] = {
     { "vtx_low_power_disarm",       VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, lowPowerDisarm) },
 #ifdef VTX_SETTINGS_FREQCMD
     { "vtx_freq",                   VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, freq) },
+    { "vtx_pit_mode_freq",          VAR_UINT16 | MASTER_VALUE, .config.minmax = { 0, VTX_SETTINGS_MAX_FREQUENCY_MHZ }, PG_VTX_SETTINGS_CONFIG, offsetof(vtxSettingsConfig_t, pitModeFreq) },
 #endif
 #endif
 

src/main/io/vtx.c

@@ -23,6 +23,7 @@
 #if defined(VTX_COMMON)
 
 #include "common/time.h"
+#include "common/maths.h"
 
 #include "config/parameter_group.h"
 #include "config/parameter_group_ids.h"
@@ -31,6 +32,7 @@
 
 #include "fc/config.h"
 #include "fc/runtime_config.h"
+#include "fc/rc_modes.h"
 
 #include "io/vtx.h"
 #include "io/vtx_string.h"
@@ -43,7 +45,8 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
     .channel = VTX_SETTINGS_DEFAULT_CHANNEL,
     .power = VTX_SETTINGS_DEFAULT_POWER,
     .freq = VTX_SETTINGS_DEFAULT_FREQ,
-    .lowPowerDisarm = 0,
+    .pitModeFreq = VTX_SETTINGS_DEFAULT_PITMODE_FREQ,
+    .lowPowerDisarm = VTX_SETTINGS_DEFAULT_LOW_POWER_DISARM,
 );
 
 #define VTX_PARAM_CYCLE_TIME_US 100000 // 10Hz
@@ -51,6 +54,7 @@ PG_RESET_TEMPLATE(vtxSettingsConfig_t, vtxSettingsConfig,
 typedef enum {
     VTX_PARAM_BANDCHAN = 0,
     VTX_PARAM_POWER,
+    VTX_PARAM_PITMODE,
     VTX_PARAM_CONFIRM,
     VTX_PARAM_COUNT
 } vtxScheduleParams_e;
@@ -61,27 +65,70 @@ static uint8_t vtxParamSchedule[VTX_PARAM_COUNT];
 void vtxInit(void)
 {
     uint8_t index = 0;
+    bool settingsUpdated = false;
+
     vtxParamSchedule[index++] = VTX_PARAM_BANDCHAN;
     vtxParamSchedule[index++] = VTX_PARAM_POWER;
+    vtxParamSchedule[index++] = VTX_PARAM_PITMODE;
     vtxParamSchedule[index++] = VTX_PARAM_CONFIRM;
-
     vtxParamScheduleCount = index;
 
     // sync frequency in parameter group when band/channel are specified
     const uint16_t freq = vtx58_Bandchan2Freq(vtxSettingsConfig()->band, vtxSettingsConfig()->channel);
     if (vtxSettingsConfig()->band && freq != vtxSettingsConfig()->freq) {
         vtxSettingsConfigMutable()->freq = freq;
+        settingsUpdated = true;
+    }
+
+#if defined(VTX_SETTINGS_FREQCMD)
+    // constrain pit mode frequency
+    if (vtxSettingsConfig()->pitModeFreq) {
+        const uint16_t constrainedPitModeFreq = MAX(vtxSettingsConfig()->pitModeFreq, VTX_SETTINGS_MIN_USER_FREQ);
+        if (constrainedPitModeFreq != vtxSettingsConfig()->pitModeFreq) {
+            vtxSettingsConfigMutable()->pitModeFreq = constrainedPitModeFreq;
+            settingsUpdated = true;
+        }
+    }
+#endif
+
+    if (settingsUpdated) {
         saveConfigAndNotify();
     }
 }
 
+static vtxSettingsConfig_t vtxGetSettings(void) {
+    vtxSettingsConfig_t settings = {
+        .band = vtxSettingsConfig()->band,
+        .channel = vtxSettingsConfig()->channel,
+        .power = vtxSettingsConfig()->power,
+        .freq = vtxSettingsConfig()->freq,
+        .pitModeFreq = vtxSettingsConfig()->pitModeFreq,
+        .lowPowerDisarm = vtxSettingsConfig()->lowPowerDisarm,
+    };
+
+#if defined(VTX_SETTINGS_FREQCMD)
+    if (IS_RC_MODE_ACTIVE(BOXVTXPITMODE) && isModeActivationConditionPresent(BOXVTXPITMODE) && settings.pitModeFreq) {
+        settings.band = 0;
+        settings.freq = settings.pitModeFreq;
+        settings.power = VTX_SETTINGS_DEFAULT_POWER;
+    }
+#endif
+
+    if (!ARMING_FLAG(ARMED) && settings.lowPowerDisarm) {
+        settings.power = VTX_SETTINGS_DEFAULT_POWER;
+    }
+
+    return settings;
+}
+
 static bool vtxProcessBandAndChannel(void) {
     if(!ARMING_FLAG(ARMED)) {
         uint8_t vtxBand;
         uint8_t vtxChan;
         if (vtxCommonGetBandAndChannel(&vtxBand, &vtxChan)) {
-            if (vtxSettingsConfig()->band != vtxBand || vtxSettingsConfig()->channel != vtxChan) {
+            const vtxSettingsConfig_t settings = vtxGetSettings();
-                vtxCommonSetBandAndChannel(vtxSettingsConfig()->band, vtxSettingsConfig()->channel);
+            if (vtxBand != settings.band || vtxChan != settings.channel) {
+                vtxCommonSetBandAndChannel(settings.band, settings.channel);
                 return true;
             }
         }
@@ -94,8 +141,9 @@ static bool vtxProcessFrequency(void) {
     if(!ARMING_FLAG(ARMED)) {
         uint16_t vtxFreq;
         if (vtxCommonGetFrequency(&vtxFreq)) {
-            if (vtxSettingsConfig()->freq != vtxFreq) {
+            const vtxSettingsConfig_t settings = vtxGetSettings();
-                vtxCommonSetFrequency(vtxSettingsConfig()->freq);
+            if (vtxFreq != settings.freq) {
+                vtxCommonSetFrequency(settings.freq);
                 return true;
             }
         }
@@ -106,29 +154,43 @@ static bool vtxProcessFrequency(void) {
 
 static bool vtxProcessPower(void) {
     uint8_t vtxPower;
-    uint8_t newPower;
     if (vtxCommonGetPowerIndex(&vtxPower)) {
-        if (!ARMING_FLAG(ARMED) && vtxSettingsConfig()->lowPowerDisarm) {
+        const vtxSettingsConfig_t settings = vtxGetSettings();
-            newPower = VTX_SETTINGS_DEFAULT_POWER;
+        if (vtxPower != settings.power) {
-        } else {
+            vtxCommonSetPowerByIndex(settings.power);
-            newPower = vtxSettingsConfig()->power;
-        }
-        if (vtxPower != newPower) {
-            vtxCommonSetPowerByIndex(newPower);
             return true;
         }
     }
     return false;
 }
 
+static bool vtxProcessPitMode(void) {
+    uint8_t pitOnOff;
+    if (!ARMING_FLAG(ARMED) && vtxCommonGetPitMode(&pitOnOff)) {
+        if (IS_RC_MODE_ACTIVE(BOXVTXPITMODE)) {
+#if defined(VTX_SETTINGS_FREQCMD)
+            if (vtxSettingsConfig()->pitModeFreq) {
+                return false;
+            }
+#endif
+            if (isModeActivationConditionPresent(BOXVTXPITMODE)) {
+                if (!pitOnOff) {
+                    vtxCommonSetPitMode(true);
+                    return true;
+                }
+            } else {
+                if (pitOnOff) {
+                    vtxCommonSetPitMode(false);
+                    return true;
+                }
+            }
+        }
+    }
+    return false;
+}
+
 static bool vtxProcessStateUpdate(void) {
-    const vtxSettingsConfig_t vtxSettingsState = {
+    const vtxSettingsConfig_t vtxSettingsState = vtxGetSettings();
-      .band = vtxSettingsConfig()->band,
-      .channel = vtxSettingsConfig()->channel,
-      .power = vtxSettingsConfig()->power,
-      .freq = vtxSettingsConfig()->freq,
-      .lowPowerDisarm = vtxSettingsConfig()->lowPowerDisarm,
-    };
     vtxSettingsConfig_t vtxState = vtxSettingsState;
 
     if (vtxSettingsState.band) {
@@ -152,11 +214,12 @@ void vtxProcessSchedule(timeUs_t currentTimeUs)
 
     if (vtxCommonDeviceRegistered()) {
         const uint8_t currentSchedule = vtxParamSchedule[scheduleIndex];
+        const vtxSettingsConfig_t settings = vtxGetSettings();
         // Process VTX changes from the parameter group at 10Hz
         if (currentTimeUs > lastCycleTimeUs + VTX_PARAM_CYCLE_TIME_US) {
             switch (currentSchedule) {
             case VTX_PARAM_BANDCHAN:
-                if (vtxSettingsConfig()->band) {
+                if (settings.band) {
                     vtxUpdatePending = vtxProcessBandAndChannel();
 #if defined(VTX_SETTINGS_FREQCMD)
                 } else {
@@ -167,6 +230,9 @@ void vtxProcessSchedule(timeUs_t currentTimeUs)
             case VTX_PARAM_POWER:
                 vtxUpdatePending = vtxProcessPower();
                 break;
+            case VTX_PARAM_PITMODE:
+                vtxUpdatePending = vtxProcessPitMode();
+                break;
             case VTX_PARAM_CONFIRM:
                  vtxUpdatePending = vtxProcessStateUpdate();
                  break;

src/main/io/vtx.h

@@ -24,11 +24,12 @@
 #include "config/parameter_group.h"
 
 typedef struct vtxSettingsConfig_s {
-    uint8_t band;       // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
+    uint8_t band;           // 1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
-    uint8_t channel;    // 1-8
+    uint8_t channel;        // 1-8
-    uint8_t power;      // 0 = lowest
+    uint8_t power;          // 0 = lowest
-    uint16_t freq;      // sets freq in MHz if band=0
+    uint16_t freq;          // sets freq in MHz if band=0
-    uint8_t lowPowerDisarm;  // min power while disarmed
+    uint16_t pitModeFreq;   // sets out-of-range pitmode frequency
+    uint8_t lowPowerDisarm; // min power while disarmed
 } vtxSettingsConfig_t;
 
 PG_DECLARE(vtxSettingsConfig_t, vtxSettingsConfig);

src/main/target/RCEXPLORERF3/target.h

@@ -107,7 +107,6 @@
 #define USE_GPS
 #define USE_GPS_UBLOX
 #define USE_GPS_NMEA
-#define USE_NAV
 
 #define USE_SERIAL_4WAY_BLHELI_INTERFACE