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feat(firmware): CRSF/ELRS RC integration — BetaFPV 2.4GHz manual control #103

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opened 2026-03-02 08:27:24 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-02 08:27:24 -05:00
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Summary

Manual RC control via CRSF protocol over ELRS 2.4GHz link (BetaFPV TX/RX).

Requirements

  • CRSF parser: Decode CRSF frames on UART (115200 or 420000 baud) from ELRS RX
  • Channel mapping: CH1=steer, CH2=throttle, CH5=arm/disarm, CH6=mode switch (RC/auto)
  • Failsafe: If no CRSF frames for 500ms, cut motors immediately
  • STM32 integration: Add CRSF UART handler alongside existing USB CDC
  • Telemetry uplink: Send battery voltage + arm state back to TX via CRSF telemetry
  • Priority: RC input overrides autonomous commands when in RC mode

Agent: sl-firmware

Labels: phase-2, rc

## Summary Manual RC control via CRSF protocol over ELRS 2.4GHz link (BetaFPV TX/RX). ## Requirements - **CRSF parser**: Decode CRSF frames on UART (115200 or 420000 baud) from ELRS RX - **Channel mapping**: CH1=steer, CH2=throttle, CH5=arm/disarm, CH6=mode switch (RC/auto) - **Failsafe**: If no CRSF frames for 500ms, cut motors immediately - **STM32 integration**: Add CRSF UART handler alongside existing USB CDC - **Telemetry uplink**: Send battery voltage + arm state back to TX via CRSF telemetry - **Priority**: RC input overrides autonomous commands when in RC mode ## Agent: sl-firmware ## Labels: phase-2, rc
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#103
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