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CRSF Baro Altitude and Vario, AirSpeed (fixed conflicts from #11100) #11168

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7a0ee88
Baro Altitude and Vario, AirSpeed
r1000 Nov 3, 2025
e7e3868
Fix settings.md
r1000 Nov 5, 2025
1354569
Remove airspeed sensor (it in 11025)
r1000 Nov 13, 2025
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9 changes: 9 additions & 0 deletions docs/Settings.md
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Expand Up @@ -582,6 +582,15 @@ Blackbox logging rate numerator. Use num/denom settings to decide if a frame sho

---

### crsf_use_legacy_baro_packet

CRSF telemetry: If `ON`, send altitude about start point in GPS telemetry packet. If `OFF`, GPS has ASL altitude, altitude about start point in separate packet. Default: 'OFF'

| Default | Min | Max |
| --- | --- | --- |
| OFF | OFF | ON |

---
### cruise_power

Power draw at cruise throttle used for remaining flight time/distance estimation in 0.01W unit
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4 changes: 4 additions & 0 deletions src/main/fc/settings.yaml
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Expand Up @@ -3285,6 +3285,10 @@ groups:
min: 1
max: 255
default_value: 1
- name: crsf_use_legacy_baro_packet
description: "CRSF telemetry: If `ON`, send altitude about start point in GPS telemetry packet. If `OFF`, GPS has ASL altitude, altitude about start point in separate packet. Default: 'OFF'"
default_value: OFF
type: bool

- name: PG_OSD_CONFIG
type: osdConfig_t
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5 changes: 4 additions & 1 deletion src/main/rx/crsf.h
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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()

Original file line number Diff line number Diff line change
Expand Up @@ -46,6 +46,8 @@ enum {
CRSF_FRAME_VARIO_SENSOR_PAYLOAD_SIZE = 2,
CRSF_FRAME_BATTERY_SENSOR_PAYLOAD_SIZE = 8,
CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE = 2,
CRSF_FRAME_BAROMETER_ALTITUDE_VARIO_PAYLOAD_SIZE = 3,
CRSF_FRAME_AIRSPEED_PAYLOAD_SIZE = 2,
CRSF_FRAME_LINK_STATISTICS_PAYLOAD_SIZE = 10,
CRSF_FRAME_RC_CHANNELS_PAYLOAD_SIZE = 22, // 11 bits per channel * 16 channels = 22 bytes.
CRSF_FRAME_ATTITUDE_PAYLOAD_SIZE = 6,
Expand Down Expand Up @@ -87,7 +89,8 @@ typedef enum {
CRSF_FRAMETYPE_GPS = 0x02,
CRSF_FRAMETYPE_VARIO_SENSOR = 0x07,
CRSF_FRAMETYPE_BATTERY_SENSOR = 0x08,
CRSF_FRAMETYPE_BAROMETER_ALTITUDE = 0x09,
CRSF_FRAMETYPE_BAROMETER_ALTITUDE_VARIO_SENSOR = 0x09,
CRSF_FRAMETYPE_AIRSPEED_SENSOR = 0x0A,
CRSF_FRAMETYPE_LINK_STATISTICS = 0x14,
CRSF_FRAMETYPE_RC_CHANNELS_PACKED = 0x16,
CRSF_FRAMETYPE_ATTITUDE = 0x1E,
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52 changes: 27 additions & 25 deletions src/main/telemetry/crsf.c
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Expand Up @@ -18,7 +18,7 @@
#include <stdbool.h>
#include <stdint.h>
#include <string.h>

#include <limits.h>
#include "platform.h"

#if defined(USE_TELEMETRY) && defined(USE_SERIALRX_CRSF) && defined(USE_TELEMETRY_CRSF)
Expand Down Expand Up @@ -57,6 +57,7 @@

#include "sensors/battery.h"
#include "sensors/sensors.h"
#include "sensors/pitotmeter.h"

#include "telemetry/crsf.h"
#include "telemetry/telemetry.h"
Expand Down Expand Up @@ -225,8 +226,7 @@ static void crsfFrameGps(sbuf_t *dst)
crsfSerialize32(dst, gpsSol.llh.lon);
crsfSerialize16(dst, (gpsSol.groundSpeed * 36 + 50) / 100); // gpsSol.groundSpeed is in cm/s
crsfSerialize16(dst, DECIDEGREES_TO_CENTIDEGREES(gpsSol.groundCourse)); // gpsSol.groundCourse is 0.1 degrees, need 0.01 deg
const uint16_t altitude = (getEstimatedActualPosition(Z) / 100) + 1000;
crsfSerialize16(dst, altitude);
crsfSerialize16(dst, (uint16_t)( (telemetryConfig()->crsf_use_legacy_baro_packet ? getEstimatedActualPosition(Z) : gpsSol.llh.alt ) / 100 + 1000) );
crsfSerialize8(dst, gpsSol.numSat);
}

Expand Down Expand Up @@ -269,16 +269,20 @@ static void crsfFrameBatterySensor(sbuf_t *dst)
crsfSerialize8(dst, batteryRemainingPercentage);
}

const int32_t ALT_MIN_DM = 10000;
const int32_t ALT_THRESHOLD_DM = 0x8000 - ALT_MIN_DM;
const int32_t ALT_MAX_DM = 0x7ffe * 10 - 5;

/*
0x09 Barometer altitude and vertical speed
Payload:
uint16_t altitude_packed ( dm - 10000 )
*/
static void crsfBarometerAltitude(sbuf_t *dst)

const int32_t ALT_MIN_DM = 10000;
const int32_t ALT_THRESHOLD_DM = 0x8000 - ALT_MIN_DM;
const int32_t ALT_MAX_DM = 0x7ffe * 10 - 5;
const float VARIO_KL = 100.0f; // TBS CRSF standard
const float VARIO_KR = .026f; // TBS CRSF standard

static void crsfFrameBarometerAltitudeVarioSensor(sbuf_t *dst)
{
int32_t altitude_dm = lrintf(getEstimatedActualPosition(Z) / 10);
uint16_t altitude_packed;
Expand All @@ -291,9 +295,15 @@ static void crsfBarometerAltitude(sbuf_t *dst)
} else {
altitude_packed = ((altitude_dm + 5) / 10) | 0x8000;
}
sbufWriteU8(dst, CRSF_FRAME_BAROMETER_ALTITUDE_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_BAROMETER_ALTITUDE);

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 );
Comment on lines +299 to +301
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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);


sbufWriteU8(dst, CRSF_FRAME_BAROMETER_ALTITUDE_VARIO_PAYLOAD_SIZE + CRSF_FRAME_LENGTH_TYPE_CRC);
crsfSerialize8(dst, CRSF_FRAMETYPE_BAROMETER_ALTITUDE_VARIO_SENSOR);
crsfSerialize16(dst, altitude_packed);
crsfSerialize8(dst, vario_packed);
}

typedef enum {
Expand Down Expand Up @@ -463,8 +473,7 @@ typedef enum {
CRSF_FRAME_BATTERY_SENSOR_INDEX,
CRSF_FRAME_FLIGHT_MODE_INDEX,
CRSF_FRAME_GPS_INDEX,
CRSF_FRAME_VARIO_SENSOR_INDEX,
CRSF_FRAME_BAROMETER_ALTITUDE_INDEX,
CRSF_FRAME_VARIO_OR_ALT_VARIO_SENSOR_INDEX,
CRSF_SCHEDULE_COUNT_MAX
} crsfFrameTypeIndex_e;

Expand Down Expand Up @@ -534,14 +543,9 @@ static void processCrsf(void)
}
#endif
#if defined(USE_BARO) || defined(USE_GPS)
if (currentSchedule & BV(CRSF_FRAME_VARIO_SENSOR_INDEX)) {
crsfInitializeFrame(dst);
crsfFrameVarioSensor(dst);
crsfFinalize(dst);
}
if (currentSchedule & BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX)) {
if (currentSchedule & BV(CRSF_FRAME_VARIO_OR_ALT_VARIO_SENSOR_INDEX) ) {
crsfInitializeFrame(dst);
crsfBarometerAltitude(dst);
telemetryConfig()->crsf_use_legacy_baro_packet ? crsfFrameVarioSensor(dst) : crsfFrameBarometerAltitudeVarioSensor(dst);
crsfFinalize(dst);
}
#endif
Expand Down Expand Up @@ -575,12 +579,7 @@ void initCrsfTelemetry(void)
#endif
#if defined(USE_BARO) || defined(USE_GPS)
if (sensors(SENSOR_BARO) || (STATE(FIXED_WING_LEGACY) && feature(FEATURE_GPS))) {
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_SENSOR_INDEX);
}
#endif
#ifdef USE_BARO
if (sensors(SENSOR_BARO)) {
crsfSchedule[index++] = BV(CRSF_FRAME_BAROMETER_ALTITUDE_INDEX);
crsfSchedule[index++] = BV(CRSF_FRAME_VARIO_OR_ALT_VARIO_SENSOR_INDEX);
}
#endif
crsfScheduleCount = (uint8_t)index;
Expand Down Expand Up @@ -659,7 +658,10 @@ int getCrsfFrame(uint8_t *frame, crsfFrameType_e frameType)
case CRSF_FRAMETYPE_VARIO_SENSOR:
crsfFrameVarioSensor(sbuf);
break;
}
case CRSF_FRAMETYPE_BAROMETER_ALTITUDE_VARIO_SENSOR:
crsfFrameBarometerAltitudeVarioSensor(sbuf);
break;
}
const int frameSize = crsfFinalizeBuf(sbuf, frame);
return frameSize;
}
Expand Down
5 changes: 3 additions & 2 deletions src/main/telemetry/telemetry.c
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Expand Up @@ -56,7 +56,7 @@
#include "telemetry/ghst.h"


PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 8);
PG_REGISTER_WITH_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig, PG_TELEMETRY_CONFIG, 9);

PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
.telemetry_switch = SETTING_TELEMETRY_SWITCH_DEFAULT,
Expand Down Expand Up @@ -98,7 +98,8 @@ PG_RESET_TEMPLATE(telemetryConfig_t, telemetryConfig,
.min_txbuff = SETTING_MAVLINK_MIN_TXBUFFER_DEFAULT,
.radio_type = SETTING_MAVLINK_RADIO_TYPE_DEFAULT,
.sysid = SETTING_MAVLINK_SYSID_DEFAULT
}
},
.crsf_use_legacy_baro_packet = SETTING_CRSF_USE_LEGACY_BARO_PACKET_DEFAULT
);

void telemetryInit(void)
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1 change: 1 addition & 0 deletions src/main/telemetry/telemetry.h
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Expand Up @@ -89,6 +89,7 @@ typedef struct telemetryConfig_s {
uint8_t radio_type;
uint8_t sysid;
} mavlink;
bool crsf_use_legacy_baro_packet;
} telemetryConfig_t;

PG_DECLARE(telemetryConfig_t, telemetryConfig);
Expand Down
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