Boilerplate for MAVLink RX

src/main/CMakeLists.txt

@@ -386,6 +386,8 @@ main_sources(COMMON_SRC
     rx/ibus.h
     rx/jetiexbus.c
     rx/jetiexbus.h
+    rx/mavlink.c
+    rx/mavlink.h
     rx/msp.c
     rx/msp.h
     rx/msp_override.c

src/main/fc/settings.yaml

@@ -25,7 +25,7 @@ tables:
     values: ["NONE", "PPM", "SERIAL", "MSP", "SPI", "UNUSED"]
     enum: rxReceiverType_e
   - name: serial_rx
-    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST"]
+    values: ["SPEK1024", "SPEK2048", "SBUS", "SUMD", "SUMH", "XB-B", "XB-B-RJ01", "IBUS", "JETIEXBUS", "CRSF", "FPORT", "SBUS_FAST", "FPORT2", "SRXL2", "GHST", "MAVLINK"]
   - name: rx_spi_protocol
     values: ["ELERES"]
     enum: rx_spi_protocol_e

src/main/rx/mavlink.c

@@ -0,0 +1,51 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+#include <string.h>
+
+#include "platform.h"
+FILE_COMPILE_FOR_SPEED
+#ifdef USE_SERIALRX_MAVLINK
+
+#include "build/build_config.h"
+#include "build/debug.h"
+
+#include "common/crc.h"
+#include "common/maths.h"
+#include "common/utils.h"
+
+#include "drivers/time.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+
+#include "io/serial.h"
+
+#include "rx/rx.h"
+#include "rx/mavlink.h"
+
+#define MAVLINK_MAX_CHANNEL 18
+
+bool mavlinkRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig)
+{
+    // TODO
+    return false;
+}
+
+#endif

src/main/rx/mavlink.h

@@ -0,0 +1,20 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#pragma once
+
+bool mavlinkRxInit(const struct rxConfig_s *initialRxConfig, struct rxRuntimeConfig_s *rxRuntimeConfig);

src/main/rx/rx.c

@@ -68,6 +68,7 @@
 #include "rx/sumh.h"
 #include "rx/xbus.h"
 #include "rx/ghst.h"
+#include "rx/mavlink.h"
 
 //#define DEBUG_RX_SIGNAL_LOSS
 
@@ -255,6 +256,11 @@ bool serialRxInit(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig
     case SERIALRX_GHST:
         enabled = ghstRxInit(rxConfig, rxRuntimeConfig);
         break;
+#endif
+#ifdef USE_SERIALRX_MAVLINK
+    case SERIALRX_MAVLINK:
+        enabled = mavlinkRxInit(rxConfig, rxRuntimeConfig);
+        break;
 #endif
     default:
         enabled = false;

src/main/rx/rx.h

@@ -84,6 +84,7 @@ typedef enum {
     SERIALRX_FPORT2 = 12,
     SERIALRX_SRXL2 = 13,
     SERIALRX_GHST = 14,
+    SERIALRX_MAVLINK = 15,
 } rxSerialReceiverType_e;
 
 #define MAX_SUPPORTED_RC_PPM_CHANNEL_COUNT          16

src/main/target/common.h

@@ -177,6 +177,7 @@
 #define USE_SERIALRX_SUMH
 #define USE_SERIALRX_XBUS
 #define USE_SERIALRX_JETIEXBUS
+#define USE_SERIALRX_MAVLINK
 #define USE_SERIALRX_CRSF
 #define USE_PWM_SERVO_DRIVER
 #define USE_SERIAL_PASSTHROUGH

src/main/telemetry/mavlink.c

@@ -1010,6 +1010,10 @@ static bool handleIncoming_MISSION_REQUEST(void)
     return false;
 }
 
+static bool handleIncoming_RC_CHANNELS_OVERRIDE(void) {
+
+}
+
 static bool processMAVLinkIncomingTelemetry(void)
 {
     while (serialRxBytesWaiting(mavlinkPort) > 0) {
@@ -1030,6 +1034,8 @@ static bool processMAVLinkIncomingTelemetry(void)
                     return handleIncoming_MISSION_REQUEST_LIST();
                 case MAVLINK_MSG_ID_MISSION_REQUEST:
                     return handleIncoming_MISSION_REQUEST();
+                case MAVLINK_MSG_ID_RC_CHANNELS_OVERRIDE:
+                    return handleIncoming_RC_CHANNELS_OVERRIDE();
                 default:
                     return false;
             }