From becd18b78d3f52ce8ee57dbf2ac5884d22d801a5 Mon Sep 17 00:00:00 2001 From: ot0tot <36753790+ot0tot@users.noreply.github.com> Date: Tue, 24 Sep 2024 13:54:56 -0400 Subject: [PATCH] Update ELRS information --- common/source/docs/common-rc-systems.rst | 7 ++++--- common/source/docs/common-tbs-rc.rst | 13 ++++++++++++- 2 files changed, 16 insertions(+), 4 deletions(-) diff --git a/common/source/docs/common-rc-systems.rst b/common/source/docs/common-rc-systems.rst index aa2d2f333b..13fa37e4a7 100644 --- a/common/source/docs/common-rc-systems.rst +++ b/common/source/docs/common-rc-systems.rst @@ -137,7 +137,8 @@ Below is a table with some commonly available systems showing these elements. N +-----------------------+------+----------+------------+-----------+--------------+--------+ |CRSF |Long | Bi-Dir | Variable | yes |SBUS/CRSF | 3 | +-----------------------+------+----------+------------+-----------+--------------+--------+ -|ELRS |Long | Yes | - | - |CRSF | 4 | +|ELRS |Long | Bi-Dir | Variable | optional |SBUS/CRSF | 4 | +| | | | | | Mavlink | | +-----------------------+------+----------+------------+-----------+--------------+--------+ |FLYSKY |Short | No | - | - | IBus | | +-----------------------+------+----------+------------+-----------+--------------+--------+ @@ -169,7 +170,7 @@ Note 2: See :ref:`common-frsky-yaapu`. The ability to change parameters over FRS Note 3: ArduPilot provides a means to send its telemetry data via CRSF such that it can be displayed on `OpenTX `__ transmitters using the :ref:`Yaapu Telemetry LUA Script`. The ability to change parameters over CRSF telemetry from an Open TX compatible transmitter in addition to displaying the telemetry data is also possible. See :ref:`common-crsf-telemetry` -Note 4: ELRS (EpressLRS) is a system that uses the CRSF (TBS Crossfire) RC protocol with several minimizations to simplify the system. It has reduced features but it connects to ArduPilot just like CRSF, when CRSF RXs are attached using a full UART, instead of SBUS protocol to communicate to ArduPilot. See `ExpressLRS site ` for more information. +Note 4: ELRS (ExpressLRS) is a flexible open-source system that can output CRSF, SBUS, or MAVLink (with embedded RC) protocols. Telemetry requires the use of CRSF or Mavlink, and the receiver must be wired to a full UART. See `ExpressLRS site ` and :ref:`TBS CRSF/ ELRS ` for more information. Note 5: The mLRS project is firmware designed specifically to carry both RC and MAVLink. The usable telemetry speed varies by the chosen mode and is managed via RADIO_STATUS flow control. It uses the CRSF (TBS Crossfire) RC protocol on both the receiver and Tx module. It also integrates full MAVLink telemetry via serial connections on the Tx module and the receiver. @@ -200,7 +201,7 @@ With integrated telemetry: mLRS Multiplex (no support in ArduPilot for M-Link telemetry yet) Spektrum SRXL2 - TBS CRSF + TBS CRSF/ ELRS Multi-Protocol: diff --git a/common/source/docs/common-tbs-rc.rst b/common/source/docs/common-tbs-rc.rst index 6ddb304172..80d5e6e247 100644 --- a/common/source/docs/common-tbs-rc.rst +++ b/common/source/docs/common-tbs-rc.rst @@ -8,7 +8,7 @@ Any Crossfire/ELRS compatible receiver can be used with ArduPilot. .. note:: ELRS (ExpressLRS) RC systems use the Crossfire protocol and are connected in a similar manner. However, ERLS telemetry does not provide bi-directional telemetry like Crossfire. Also, on F4/F7 based autopilots the UART MUST be DMA enabled for reliable operation. Consult :ref:`common-autopilots`. -If you do not wish to use telemetry then a **TBS Crossfire** receiver can be connected to the **RCIN** port using :ref:`SBUS `. You must configure the Receiver to output SBUS, of course. +If you do not wish to use telemetry then a TBS Crossfire or ELRS receiver can be connected to the **RCIN** port using :ref:`SBUS `. You must configure the receiver to output SBUS, of course. CRSF Receivers ============== @@ -36,6 +36,17 @@ ELRS Receivers ELRS can be setup in the same manner as CRSF above , however, bit 13 of :ref:`RC_OPTIONS` should be set to alter the baudrate from 416KBaud that CRSF uses, to 420KBaud that ELRS uses. As mentioned above, the UART selected must have DMA capability. +MAVLink Option +-------------- + +In addition to SBUS and CRSF protocols, ELRS can be configured to use MAVLink protocol for telemetry and embedded RC control. To utilize this attach to SERIAL port 4(as an example) and configure: + +- Set :ref:`SERIAL4_PROTOCOL ` = 2 +- Set :ref:`SERIAL4_BAUD ` = 460 +- Set :ref:`RSSI_TYPE ` = 5 + +If the ELRS transmitter module has WIFI, the MAVLink telemetry can be wirelessly forwarded to a phone or PC GCS. + CRSF Video Transmitters =======================