* Refactor CRSF and SmartPort telemetry #11296
Draft
+2,616
−648
Conversation
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Merge 9.x to master
…-to-authors Add Ray Morris (Sensei) to AUTHORS
Create automated check that runs on PRs to detect when parameter group structs are modified without incrementing the version number. This prevents settings corruption issues like those seen in PR iNavFlight#11236. Detection logic: - Scans changed C/H files for PG_REGISTER entries - Detects struct typedef modifications in git diff - Verifies version parameter was incremented - Posts helpful comment if version not incremented Files added: - .github/scripts/check-pg-versions.sh - Detection script - .github/workflows/pg-version-check.yml - Workflow definition - .github/workflows/README.md - Workflow documentation The check is non-blocking (comment only) to avoid false positive build failures, but provides clear guidance on when versions must be incremented.
Improve PG version check robustness and efficiency per Qodo feedback: 1. Struct detection: Use sed/grep pipeline to better filter comments and whitespace, reducing false positives. Isolates struct body boundaries more reliably before checking for modifications. 2. File iteration: Use while/read loop instead of for loop to correctly handle filenames that contain spaces. 3. Workflow efficiency: Capture script output once and pass between steps using GITHUB_OUTPUT multiline strings, eliminating redundant execution. Changes reduce false positives and improve compatibility while maintaining the same detection logic.
…check-action Add GitHub Action to detect Parameter Group version increment issues
Merge Maintenance 9.x to master, mostly for the github workflow
Replace JavaScript template literals with string concatenation to avoid YAML parser confusion with template literal interpolation syntax. GitHub Actions YAML parser can misinterpret template literal dollar-brace syntax as expression delimiters.
…check-action Fix YAML syntax error in workflow file
* Telemetry scheduler for CRSF and SmartPort
Branch Targeting SuggestionYou've targeted the
If This is an automated suggestion to help route contributions to the appropriate branch. |
Contributor
ⓘ Your approaching your monthly quota for Qodo. Upgrade your plan PR Compliance Guide 🔍All compliance sections have been disabled in the configurations. |
![qodo-code-review[bot]](https://avatars.githubusercontent.com/in/484649?s=60&v=4){kind=small}
src/main/telemetry/crsf.c
Outdated
Comment on lines
292
to
316
| void crsfSensorEncodeEscRpm(telemetrySensor_t *sensor, sbuf_t *buf) | ||
| { | ||
| UNUSED(sensor); | ||
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | ||
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | ||
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | ||
|
|
||
| for (uint8_t i = 0; i < motorCount; i++) { | ||
| const escSensorData_t *escState = getEscTelemetry(i); | ||
| crsfSerialize24BE(buf, escState->rpm & 0xFFFFFF); | ||
| } | ||
| return frameSize; | ||
| } | ||
|
|
||
| void crsfSensorEncodeEscTemp(telemetrySensor_t *sensor, sbuf_t *buf) | ||
| { | ||
| UNUSED(sensor); | ||
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | ||
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | ||
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | ||
|
|
||
| for (uint8_t i = 0; i < motorCount; i++) { | ||
| const escSensorData_t *escState = getEscTelemetry(i); | ||
| crsfSerialize16BE(buf, escState->temperature & 0xFFFF); | ||
| } | ||
| } |
Contributor
There was a problem hiding this comment.
Suggestion: Add a null check for the escState pointer in crsfSensorEncodeEscRpm and crsfSensorEncodeEscTemp to prevent a potential crash before dereferencing it. [possible issue, importance: 8]
Suggested change
| void crsfSensorEncodeEscRpm(telemetrySensor_t *sensor, sbuf_t *buf) | |
| { | |
| UNUSED(sensor); | |
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | |
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | |
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | |
| for (uint8_t i = 0; i < motorCount; i++) { | |
| const escSensorData_t *escState = getEscTelemetry(i); | |
| crsfSerialize24BE(buf, escState->rpm & 0xFFFFFF); | |
| } | |
| return frameSize; | |
| } | |
| void crsfSensorEncodeEscTemp(telemetrySensor_t *sensor, sbuf_t *buf) | |
| { | |
| UNUSED(sensor); | |
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | |
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | |
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | |
| for (uint8_t i = 0; i < motorCount; i++) { | |
| const escSensorData_t *escState = getEscTelemetry(i); | |
| crsfSerialize16BE(buf, escState->temperature & 0xFFFF); | |
| } | |
| } | |
| void crsfSensorEncodeEscRpm(telemetrySensor_t *sensor, sbuf_t *buf) | |
| { | |
| UNUSED(sensor); | |
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | |
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | |
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | |
| for (uint8_t i = 0; i < motorCount; i++) { | |
| const escSensorData_t *escState = getEscTelemetry(i); | |
| crsfSerialize24BE(buf, escState ? (escState->rpm & 0xFFFFFF) : 0); | |
| } | |
| } | |
| void crsfSensorEncodeEscTemp(telemetrySensor_t *sensor, sbuf_t *buf) | |
| { | |
| UNUSED(sensor); | |
| uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting | |
| motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value | |
| motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data | |
| for (uint8_t i = 0; i < motorCount; i++) { | |
| const escSensorData_t *escState = getEscTelemetry(i); | |
| crsfSerialize16BE(buf, escState ? (escState->temperature & 0xFFFF) : 0); | |
| } | |
| } |
Comment on lines
+156
to
+176
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | ||
| { | ||
| uint32_t lat = (uint32_t)(abs(gpsSol.llh.lat) * 6) / 100; //danger zone, may overflow for latitudes > 3579139.2 degrees, so convert int from abs function to uint32_t | ||
|
|
||
| if (gpsSol.llh.lat < 0) { | ||
| lat |= BIT(30); | ||
| } | ||
|
|
||
| payload->data = lat; | ||
| } | ||
|
|
||
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | ||
| { | ||
| uint32_t lon = (uint32_t)(abs(gpsSol.llh.lon) * 6) / 100; //danger zone, may overflow for longitudes > 3579139.2 degrees , so convert int from abs function to uint32_t | ||
|
|
||
| if (gpsSol.llh.lon < 0) { | ||
| lon |= BIT(30); | ||
| } | ||
|
|
||
| payload->data = lon | BIT(31); | ||
| } |
Contributor
There was a problem hiding this comment.
Suggestion: Use floating-point arithmetic for GPS coordinate calculations in smartPortSensorEncodeLat and smartPortSensorEncodeLon to avoid precision loss. [general, importance: 7]
Suggested change
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t lat = (uint32_t)(abs(gpsSol.llh.lat) * 6) / 100; //danger zone, may overflow for latitudes > 3579139.2 degrees, so convert int from abs function to uint32_t | |
| if (gpsSol.llh.lat < 0) { | |
| lat |= BIT(30); | |
| } | |
| payload->data = lat; | |
| } | |
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t lon = (uint32_t)(abs(gpsSol.llh.lon) * 6) / 100; //danger zone, may overflow for longitudes > 3579139.2 degrees , so convert int from abs function to uint32_t | |
| if (gpsSol.llh.lon < 0) { | |
| lon |= BIT(30); | |
| } | |
| payload->data = lon | BIT(31); | |
| } | |
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t lat = (uint32_t)(fabsf(gpsSol.llh.lat) * 0.06f); | |
| if (gpsSol.llh.lat < 0) { | |
| lat |= BIT(30); | |
| } | |
| payload->data = lat; | |
| } | |
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t lon = (uint32_t)(fabsf(gpsSol.llh.lon) * 0.06f); | |
| if (gpsSol.llh.lon < 0) { | |
| lon |= BIT(30); | |
| } | |
| payload->data = lon | BIT(31); | |
| } |
Comment on lines
+277
to
+293
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | ||
| { | ||
| uint32_t tmpui = abs(gpsSol.llh.lon); // now we have unsigned value and one bit to spare | ||
| tmpui = (tmpui + tmpui / 2) / 25 | 0x80000000; // 6/100 = 1.5/25, division by power of 2 is fast | ||
| if (gpsSol.llh.lon < 0) tmpui |= 0x40000000; | ||
|
|
||
| payload->data = tmpui; | ||
| } | ||
|
|
||
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | ||
| { | ||
| uint32_t tmpui = abs(gpsSol.llh.lat); // now we have unsigned value and one bit to spare | ||
| tmpui = (tmpui + tmpui / 2) / 25; // 6/100 = 1.5/25, division by power of 2 is fast | ||
| if (gpsSol.llh.lat < 0) tmpui |= 0x40000000; | ||
|
|
||
| payload->data = tmpui; | ||
| } |
Contributor
There was a problem hiding this comment.
Suggestion: Swap the use of gpsSol.llh.lon and gpsSol.llh.lat in the smartPortSensorEncodeLat and smartPortSensorEncodeLon functions to correctly encode GPS coordinates. [possible issue, importance: 9]
Suggested change
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t tmpui = abs(gpsSol.llh.lon); // now we have unsigned value and one bit to spare | |
| tmpui = (tmpui + tmpui / 2) / 25 | 0x80000000; // 6/100 = 1.5/25, division by power of 2 is fast | |
| if (gpsSol.llh.lon < 0) tmpui |= 0x40000000; | |
| payload->data = tmpui; | |
| } | |
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t tmpui = abs(gpsSol.llh.lat); // now we have unsigned value and one bit to spare | |
| tmpui = (tmpui + tmpui / 2) / 25; // 6/100 = 1.5/25, division by power of 2 is fast | |
| if (gpsSol.llh.lat < 0) tmpui |= 0x40000000; | |
| payload->data = tmpui; | |
| } | |
| static void smartPortSensorEncodeLat(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t tmpui = abs(gpsSol.llh.lat); // now we have unsigned value and one bit to spare | |
| tmpui = (tmpui + tmpui / 2) / 25 | 0x80000000; // 6/100 = 1.5/25, division by power of 2 is fast | |
| if (gpsSol.llh.lat < 0) tmpui |= 0x40000000; | |
| payload->data = tmpui; | |
| } | |
| static void smartPortSensorEncodeLon(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| uint32_t tmpui = abs(gpsSol.llh.lon); // now we have unsigned value and one bit to spare | |
| tmpui = (tmpui + tmpui / 2) / 25; // 6/100 = 1.5/25, division by power of 2 is fast | |
| if (gpsSol.llh.lon < 0) tmpui |= 0x40000000; | |
| payload->data = tmpui; | |
| } |
Comment on lines
+133
to
+134
| case TELEM_GPS_AZIMUTH: | ||
| return ((GPS_directionToHome < 0 ? GPS_directionToHome + 360 : GPS_directionToHome) + 180) % 360; |
Contributor
There was a problem hiding this comment.
Suggestion: Remove the addition of 180 degrees from the TELEM_GPS_AZIMUTH calculation to report the correct direction to home. [possible issue, importance: 8]
Suggested change
| case TELEM_GPS_AZIMUTH: | |
| return ((GPS_directionToHome < 0 ? GPS_directionToHome + 360 : GPS_directionToHome) + 180) % 360; | |
| case TELEM_GPS_AZIMUTH: | |
| return GPS_directionToHome < 0 ? GPS_directionToHome + 360 : GPS_directionToHome; |
Comment on lines
+285
to
+305
| void telemetryScheduleUpdate(timeUs_t currentTime) | ||
| { | ||
| timeDelta_t delta = cmpTimeUs(currentTime, sch.update_time); | ||
|
|
||
| for (int i = 0; i < sch.sensor_count; i++) { | ||
| telemetrySensor_t * sensor = &sch.sensors[i]; | ||
| if (sensor->active) { | ||
| int value = telemetrySensorValue(sensor->sensor_id); | ||
| if (sensor->ratio_den) | ||
| value = value * sensor->ratio_num / sensor->ratio_den; | ||
| sensor->update |= (value != sensor->value); | ||
| sensor->value = value; | ||
|
|
||
| const int interval = (sensor->update) ? sensor->fast_interval : sensor->slow_interval; | ||
| sensor->bucket += delta * 1000 / interval; | ||
| sensor->bucket = constrain(sensor->bucket, sch.min_level, sch.max_level); | ||
| } | ||
| } | ||
|
|
||
| sch.update_time = currentTime; | ||
| } |
Contributor
There was a problem hiding this comment.
Suggestion: In telemetryScheduleUpdate, add a check to ensure interval is greater than zero before performing division to prevent a potential division-by-zero crash. [possible issue, importance: 8]
Suggested change
| void telemetryScheduleUpdate(timeUs_t currentTime) | |
| { | |
| timeDelta_t delta = cmpTimeUs(currentTime, sch.update_time); | |
| for (int i = 0; i < sch.sensor_count; i++) { | |
| telemetrySensor_t * sensor = &sch.sensors[i]; | |
| if (sensor->active) { | |
| int value = telemetrySensorValue(sensor->sensor_id); | |
| if (sensor->ratio_den) | |
| value = value * sensor->ratio_num / sensor->ratio_den; | |
| sensor->update |= (value != sensor->value); | |
| sensor->value = value; | |
| const int interval = (sensor->update) ? sensor->fast_interval : sensor->slow_interval; | |
| sensor->bucket += delta * 1000 / interval; | |
| sensor->bucket = constrain(sensor->bucket, sch.min_level, sch.max_level); | |
| } | |
| } | |
| sch.update_time = currentTime; | |
| } | |
| void telemetryScheduleUpdate(timeUs_t currentTime) | |
| { | |
| timeDelta_t delta = cmpTimeUs(currentTime, sch.update_time); | |
| for (int i = 0; i < sch.sensor_count; i++) { | |
| telemetrySensor_t * sensor = &sch.sensors[i]; | |
| if (sensor->active) { | |
| int value = telemetrySensorValue(sensor->sensor_id); | |
| if (sensor->ratio_den) | |
| value = value * sensor->ratio_num / sensor->ratio_den; | |
| sensor->update |= (value != sensor->value); | |
| sensor->value = value; | |
| const int interval = (sensor->update) ? sensor->fast_interval : sensor->slow_interval; | |
| if (interval > 0) { | |
| sensor->bucket += delta * 1000 / interval; | |
| } | |
| sensor->bucket = constrain(sensor->bucket, sch.min_level, sch.max_level); | |
| } | |
| } | |
| sch.update_time = currentTime; | |
| } |
Comment on lines
+374
to
+375
| TLM_SENSOR(LEGACY_LAT , 0x0800, 200, 200, 0, 0, 0, Lat), | ||
| TLM_SENSOR(LEGACY_LON , 0x0800, 200, 200, 0, 0, 0, Lon), |
Contributor
There was a problem hiding this comment.
Suggestion: Assign a unique app_id to LEGACY_LON to prevent a collision with LEGACY_LAT in the SmartPort sensor definitions. [possible issue, importance: 9]
Suggested change
| TLM_SENSOR(LEGACY_LAT , 0x0800, 200, 200, 0, 0, 0, Lat), | |
| TLM_SENSOR(LEGACY_LON , 0x0800, 200, 200, 0, 0, 0, Lon), | |
| TLM_SENSOR(LEGACY_LAT , 0x0800, 200, 200, 0, 0, 0, Lat), | |
| TLM_SENSOR(LEGACY_LON , 0x0810, 200, 200, 0, 0, 0, Lon), |
Comment on lines
+215
to
+222
| static void smartPortSensorEncodeFuel(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | ||
| { | ||
| if (telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_PERCENT) { | ||
| payload->data = calculateBatteryPercentage(); // Show remaining battery % if smartport_fuel_percent=ON | ||
| } else if (isAmperageConfigured()) { | ||
| payload->data = telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_MAH ? getMAhDrawn() : getMWhDrawn(); | ||
| } | ||
| } |
Contributor
There was a problem hiding this comment.
Suggestion: In smartPortSensorEncodeFuel, add an else block to initialize payload->data to 0, preventing it from being uninitialized if no fuel reporting method is configured. [general, importance: 6]
Suggested change
| static void smartPortSensorEncodeFuel(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| if (telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_PERCENT) { | |
| payload->data = calculateBatteryPercentage(); // Show remaining battery % if smartport_fuel_percent=ON | |
| } else if (isAmperageConfigured()) { | |
| payload->data = telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_MAH ? getMAhDrawn() : getMWhDrawn(); | |
| } | |
| } | |
| static void smartPortSensorEncodeFuel(__unused telemetrySensor_t *sensor, smartPortPayload_t *payload) | |
| { | |
| if (telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_PERCENT) { | |
| payload->data = calculateBatteryPercentage(); | |
| } else if (isAmperageConfigured()) { | |
| payload->data = telemetryConfig()->smartportFuelUnit == SMARTPORT_FUEL_UNIT_MAH ? getMAhDrawn() : getMWhDrawn(); | |
| } else { | |
| payload->data = 0; | |
| } | |
| } |
| const float rate = telemetryConfig()->crsf_telemetry_link_rate; | ||
| const float ratio = telemetryConfig()->crsf_telemetry_link_ratio; | ||
|
|
||
| crsfTelemetryRateQuanta = rate / (ratio * 1000000); |
Contributor
There was a problem hiding this comment.
Suggestion: Add validation to prevent divide-by-zero when ratio is zero. Check that ratio > 0 before performing the division, and provide a fallback value or early return if invalid. [Learned best practice, importance: 6]
Suggested change
| crsfTelemetryRateQuanta = rate / (ratio * 1000000); | |
| if (ratio > 0) { | |
| crsfTelemetryRateQuanta = rate / (ratio * 1000000); | |
| } else { | |
| crsfTelemetryRateQuanta = 0; | |
| } |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
3 participants
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
User description
Recreated PR.
Original PR was closed after branch was deleted/recreated.
Last commit preserved: 28b6ed8 :(
Note: this PR needs updates in INAV Configurator
Global changes
SmarPort
Ethos DIY sensors, how to add
it's native Ethos functionality, no needed to use any extra LUA script
Ethos sensors
CRSF
CSFR CUSTOMtelemetry sensors
CSFR NATIVE telemetry sensors
For considering
Need to do
PR Type
Enhancement
Description
This description is generated by an AI tool. It may have inaccuracies
smartportFuelUnitsettingcrsf_telemetry_modesetting supporting NATIVE (CRSF native telemetry) and CUSTOM modescrsf_telemetry_link_rateandcrsf_telemetry_link_ratiosettings for ELRS synchronizationDiagram Walkthrough
File Walkthrough