RxConfig

RxConfig.h

Receiver configuration: select the receiver type and map AUX channels to arm and flight modes. Every function here is called once from plutoRxConfig().

The minRange / maxRange arguments define the RC-value window (1000 - 2000) in which that switch position is considered active.

Enumerations

rx_mode_e

Receiver type, passed to Receiver_Mode().

typedef enum {
    Rx_ESP,     // ESP-based receiver (onboard Wi-Fi)
    Rx_PPM,     // PPM receiver
    Rx_CAM,     // Camera-based receiver
    Rx_ELRS     // ExpressLRS (CRSF) receiver on USART1
} rx_mode_e;

flight_mode

The set of configurable flight modes.

typedef enum {
    Mode_ARM,       // Arm mode
    Mode_ANGLE,     // Angle mode
    Mode_BARO,      // Barometer / altitude mode
    Mode_MAG,       // Magnetometer / heading mode
    Mode_HEADFREE   // Head-free mode
} flight_mode;

rx_channel_e

AUX channel, passed to the config functions. Note the channel numbers start at 5.

typedef enum {
    Rx_AUX1 = 4,    // AUX1 (channel 5)
    Rx_AUX2,        // AUX2 (channel 6)
    Rx_AUX3,        // AUX3 (channel 7)
    Rx_AUX4,        // AUX4 (channel 8)
    Rx_AUX5         // AUX5 (channel 9)
} rx_channel_e;

Global Variables

• uint8_t DevModeAUX - AUX channel assigned to Developer Mode.
• uint16_t DevModeMinRange - Developer Mode activation window, low bound.
• uint16_t DevModeMaxRange - Developer Mode activation window, high bound.

Functions

void Receiver_Mode(rx_mode_e rxMode)

Selects the receiver type. Call it first in plutoRxConfig().

void plutoRxConfig ( void ) {
    Receiver_Mode ( Rx_ESP );   // or Rx_ELRS, Rx_PPM, Rx_CAM
}

void Receiver_Config_Arm(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)

Maps the arm switch to an AUX channel and activation window.

void plutoRxConfig ( void ) {
    Receiver_Config_Arm ( Rx_AUX1, 1700, 2000 );   // armed when AUX1 is high
}

Flight Mode Configuration

Each of these maps a flight mode to an AUX channel and activation window. Call them in plutoRxConfig().

• void Receiver_Config_Mode_Angle(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)
• void Receiver_Config_Mode_Baro(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)
• void Receiver_Config_Mode_Mag(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)
• void Receiver_Config_Mode_HeadFree(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)
• void Receiver_Config_Mode_Dev(rx_channel_e rxChannel, uint16_t minRange, uint16_t maxRange)

void plutoRxConfig ( void ) {
    Receiver_Config_Mode_Angle ( Rx_AUX2, 1000, 1300 );      // Angle when AUX2 low
    Receiver_Config_Mode_Baro ( Rx_AUX2, 1700, 2000 );       // Alt-hold when AUX2 high
    Receiver_Config_Mode_Mag ( Rx_AUX3, 1700, 2000 );        // Mag when AUX3 high
    Receiver_Config_Mode_HeadFree ( Rx_AUX4, 1700, 2000 );   // Head-free when AUX4 high
    Receiver_Config_Mode_Dev ( Rx_AUX5, 1700, 2000 );        // Developer Mode on AUX5 high
}

Receiver_Config_Mode_Dev sets the AUX channel that toggles Developer Mode, which is what runs onLoopStart / plutoLoop / onLoopFinish.

void STM_PB3_ESP_IO14_Init(void)

Initializes the STM32 PB3 to ESP IO14 connection. Call it in plutoRxConfig() when using the onboard ESP receiver.

void plutoRxConfig ( void ) {
    Receiver_Mode ( Rx_ESP );
    STM_PB3_ESP_IO14_Init();
}

Usage Example

A complete receiver setup: select the receiver, map the arm switch, and assign flight modes to AUX channels.

#include "PlutoPilot.h"

void plutoRxConfig ( void ) {
    // Receiver type.
    Receiver_Mode ( Rx_ESP );

    // Arm switch on AUX1 (high = armed).
    Receiver_Config_Arm ( Rx_AUX1, 1700, 2000 );

    // Flight modes.
    Receiver_Config_Mode_Angle ( Rx_AUX2, 1000, 1300 );      // low position
    Receiver_Config_Mode_Baro ( Rx_AUX2, 1700, 2000 );       // high position
    Receiver_Config_Mode_Mag ( Rx_AUX3, 1700, 2000 );
    Receiver_Config_Mode_HeadFree ( Rx_AUX4, 1700, 2000 );
    Receiver_Config_Mode_Dev ( Rx_AUX5, 1700, 2000 );        // Developer Mode

    // Onboard ESP link.
    STM_PB3_ESP_IO14_Init();
}