CRSF Baro Altitude and Vario, AirSpeed (fixed conflicts from #11100)

[sensei-hacker]

User description

Fixes merge conflicts from #11100

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PR Type

Enhancement

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Description

• Adds barometer altitude and vario sensor support to CRSF telemetry

• Combines altitude and vertical speed into single packet frame

• Implements legacy barometer packet mode configuration option

• Updates frame type definitions and payload sizes for new sensors

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Diagram Walkthrough

flowchart LR
  A["CRSF Telemetry"] --> B["Legacy Mode"]
  A --> C["New Mode"]
  B --> D["Vario Sensor Frame"]
  B --> E["Altitude in GPS Frame"]
  C --> F["Combined Alt-Vario Frame"]
  C --> G["ASL Altitude in GPS Frame"]
  F --> H["Altitude + Vertical Speed"]

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File Walkthrough

	Relevant files
Enhancement	crsf.h Add barometer altitude vario sensor frame types                    src/main/rx/crsf.h Added CRSF_FRAME_BAROMETER_ALTITUDE_VARIO_PAYLOAD_SIZE constant (3 bytes) Added CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE constant (2 bytes) Renamed CRSF_FRAMETYPE_BAROMETER_ALTITUDE to CRSF_FRAMETYPE_BAROMETER_ALTITUDE_VARIO_SENSOR Added CRSF_FRAMETYPE_AIRSPEED_SENSOR frame type definition +4/-1      crsf.c Implement barometer altitude vario sensor telemetry            src/main/telemetry/crsf.c Added #include for SCHAR_MIN/SCHAR_MAX constants Added #include "sensors/pitotmeter.h" for airspeed sensor support Modified GPS frame to use configurable altitude source (legacy or GPS ASL) Renamed crsfBarometerAltitude() to crsfFrameBarometerAltitudeVarioSensor() Implemented vario (vertical speed) calculation using logarithmic formula with TBS CRSF standard constants Consolidated vario and barometer altitude frame scheduling into single index Updated frame processing to conditionally send legacy vario or new combined altitude-vario packet +27/-25
Configuration changes	telemetry.c Add legacy barometer packet configuration option                  src/main/telemetry/telemetry.c Incremented telemetry config version from 8 to 9 Added crsf_use_legacy_baro_packet field to telemetry config reset template Fixed trailing comma in mavlink configuration structure +3/-2      telemetry.h Add legacy baro packet config field                                            src/main/telemetry/telemetry.h Added bool crsf_use_legacy_baro_packet field to telemetryConfig_t structure +1/-0      settings.yaml Add CRSF legacy baro packet YAML setting                                  src/main/fc/settings.yaml Added crsf_use_legacy_baro_packet setting definition to telemetry config group Set type as bool with default value OFF Included description matching Settings.md documentation +4/-0
Documentation	Settings.md Document CRSF legacy barometer packet setting                        docs/Settings.md Added documentation for crsf_use_legacy_baro_packet setting Explains behavior difference between legacy and new altitude packet modes Documents default value as OFF +9/-0

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[qodo-code-review]

PR Compliance Guide 🔍

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[qodo-code-review]

High-level Suggestion

The PR introduces definitions for airspeed telemetry in crsf.h but lacks the implementation to create and send the airspeed frame in crsf.c. The suggestion is to either complete this feature or remove the partial code. [High-level, importance: 8]

Solution Walkthrough:

Before:

// src/main/rx/crsf.h
...
enum {
    ...
    CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE = 2,
    ...
};
...
typedef enum {
    ...
    CRSF_FRAMETYPE_AIRSPEED_SENSOR = 0x0A,
    ...
} crsfFrameType_e;

// src/main/telemetry/crsf.c
// No function to create the airspeed frame exists.
// No scheduling logic for the airspeed frame exists.

After:

// src/main/telemetry/crsf.c

// 1. Implement the frame creation function
static void crsfFrameAirspeedSensor(sbuf_t *dst)
{
    sbufWriteU8(dst, CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
    crsfSerialize8(dst, CRSF_FRAMETYPE_AIRSPEED_SENSOR);
    crsfSerialize16(dst, getAirspeed()); // Assuming getAirspeed() is available
}

// 2. Add to the frame scheduler
typedef enum {
    ...
    CRSF_FRAME_VARIO_OR_ALT_VARIO_SENSOR_INDEX,
    CRSF_FRAME_AIRSPEED_INDEX, // Add new index
    CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e;

// 3. Schedule and send the frame
// ... in initCrsfTelemetry() and processCrsf()

[qodo-code-review]

Suggestion: Compute in float, clamp to int bounds, and cast once at the end to avoid premature narrowing and ensure correct range handling. [Learned best practice, importance: 6]

Suggested change

	float vario_sm = getEstimatedActualVelocity(Z);
	int8_t sign = vario_sm < 0 ? -1 : ( vario_sm > 0 ? 1 : 0 );
	int8_t vario_packed = (int8_t)constrain( lrintf(__builtin_logf(ABS(vario_sm) / VARIO_KL + 1) / VARIO_KR * sign ), SCHAR_MIN, SCHAR_MAX );
	float vario_sm = getEstimatedActualVelocity(Z);
	int sign = (vario_sm < 0.0f) ? -1 : ((vario_sm > 0.0f) ? 1 : 0);
	float vario_scaled = (__builtin_logf(fabsf(vario_sm) / VARIO_KL + 1.0f) / VARIO_KR) * sign;
	float vario_clamped = constrainf(vario_scaled, (float)SCHAR_MIN, (float)SCHAR_MAX);
	int8_t vario_packed = (int8_t)lrintf(vario_clamped);