Parser update for ELRS 4.0 - #18
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ELRS 4.0's CRSF rewrite (PR #3198) made every serial frame use 0xC8 as the sync byte regardless of the original device address, and PR #3429 allowed broadcast frames with zero payload (length byte == 2). The existing parser rejected len < 3 and only handled ATTITUDE addressed to RADIO_TRANSMITTER, so attitude telemetry from a 4.0 RX was dropped and any zero-payload frame would desync the buffer. - Accept length byte in [2, CRSF_MAX_PACKET_LEN-2] to match ELRS bounds - Parse ATTITUDE under the FLIGHT_CONTROLLER address (0xC8) - Add new frame types (AIRSPEED, HEARTBEAT, RPM, TEMP, CELLS, FLIGHT_MODE, ELRS_STATUS, DEVICE_PING/INFO, PARAMETER_*, COMMAND) - Add BLUETOOTH_WIFI and ELRS_LUA addresses - Use int16_t for the attitude struct (radians * 10000) so negative pitch/roll/yaw decode correctly - Add PACKED to crsfLinkStatistics_t - Document the ELRS extended-channels status byte appended after crsf_channels_t (CRSF_CHANNELS_STATUS_ARMED, ARMING_MODE_CH5) https://claude.ai/code/session_016ERm16Sii4jtPwP9LcWhrh
Update parser for ExpressLRS 4.0 compatibility
Collaborator
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Has this been tested on both ELRS 3.0 and ELRS 4.0? |
Author
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I am sorry I forgot to clarify but I tested it only for ELRS 4.0 It is probably better for this to live on a separate branch for now as the parser is not backwards compatible. I'll look more into this and get something which is backwards compatible as well |
Collaborator
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I just went through and along with adding 4.0 support, fixed some outstanding bugs/missing features (thanks Claude). Live on main now. I've tested on ELRS 3.0 and ELRS 4.0 and everything looks good so far. I'm going to give it a few days before pushing the changes live to Arduino as a 2.0.0 release. If you get a chance check out the changes and let me know what you think. |
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Used Claude to update the parser for ELRS 4.0 support. I have tested it with the printAllChannels code and it works