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FX/A570: new subprotocol for VTOL QIDI-570

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pascallanger
2026-07-16 17:51:34 +02:00
parent fc8730976c
commit 095acb0975
7 changed files with 73 additions and 33 deletions
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70
Multiprotocol/FX_nrf24l01.ino
View File

@@ -45,9 +45,12 @@ Multiprotocol is distributed in the hope that it will be useful,
#define FX_BM26_BIND_CHANNEL 40
#define FX_BM26_PACKET_PERIOD 14066
#define FX_A570_PACKET_PERIOD 10270
//#define FORCE_FX620_ID
//#define FORCE_FX9630_ID
//#define FORCE_QIDI_ID
//#define FORCE_FX_A570_ID
enum
{
@@ -64,7 +67,7 @@ static void __attribute__((unused)) FX_send_packet()
{
XN297_Hopping(hopping_frequency_no++);
if(sub_protocol >= FX9630)
{ // FX9630 & FX_Q560 & FX_QF012
{ // FX9630 & FX_Q560 & FX_QF012 & FX_A570
if (hopping_frequency_no >= FX9630_NUM_CHANNELS)
{
hopping_frequency_no = 0;
@@ -73,7 +76,7 @@ static void __attribute__((unused)) FX_send_packet()
trim_ch++;
trim_ch &= 3;
}
else // FX_Q560 & FX_QF012
else // FX_Q560 & FX_QF012 & FX_A570
trim_ch = 0;
}
}
@@ -87,7 +90,36 @@ static void __attribute__((unused)) FX_send_packet()
//Channels
uint8_t val;
if (sub_protocol >= FX9630)
if (sub_protocol == FX816 || sub_protocol == FX620)
{
uint8_t offset=sub_protocol == FX816 ? FX816_CH_OFFSET:FX620_CH_OFFSET;
val=convert_channel_8b(AILERON);
if(val>127+FX_SWITCH)
packet[offset] = sub_protocol == FX816 ? 1:0xFF;
else if(val<127-FX_SWITCH)
packet[offset] = sub_protocol == FX816 ? 2:0x00;
else
packet[offset] = sub_protocol == FX816 ? 0:0x7F;
packet[offset+1] = convert_channel_16b_limit(THROTTLE,0,100); //FX816:0x00..0x63, FX620:0x00..0x5E but that should work
}
else if (sub_protocol == FX_A570)
{
packet[0] = convert_channel_16b_limit(THROTTLE,0x1C,0xE4);
packet[1] = convert_channel_16b_limit(AILERON,0xE4,0x1C);
packet[2] = convert_channel_16b_limit(ELEVATOR,0xE4,0x1C);
packet[3] = convert_channel_16b_limit(RUDDER,0x1C,0xE4);
// Trims - Ruddder L:01 R:02, Aileron L:03 R:04, Elevator Fwd:05 Back:06
packet[4] = (Channel_data[CH10] < CHANNEL_MIN_COMMAND ? 0x01 : GET_FLAG(CH10_SW, 0x02)) // Rudder trim
| (Channel_data[CH11] < CHANNEL_MIN_COMMAND ? 0x03 : GET_FLAG(CH11_SW, 0x04)) // Aileron trim
| (Channel_data[CH12] < CHANNEL_MIN_COMMAND ? 0x06 : GET_FLAG(CH12_SW, 0x05)); // Elevator trim
packet[5] = GET_FLAG(CH5_SW, 0x40) // motors stop
// A570 flight modes = 0>vertical flight(3 axis mode):00, 1>flat flight(6G):02, 2>vertical flight(2 axis mode):04
| (Channel_data[CH6] < CHANNEL_MIN_COMMAND ? 0x00 : (Channel_data[CH6] > CHANNEL_MAX_COMMAND ? 0x04 : 0x02))
| GET_FLAG(CH7_SW, 0x01) // 0:low rate, 1:high rate
| GET_FLAG(CH8_SW, 0x08) // LED color change
| GET_FLAG(CH9_SW, 0x10); // LED off
}
else
{ // FX9630 & FX_Q560 & FX_QF012 & FX_BM26
packet[0] = convert_channel_8b(THROTTLE);
packet[1] = convert_channel_8b(AILERON);
@@ -124,18 +156,6 @@ static void __attribute__((unused)) FX_send_packet()
| GET_FLAG( CH9_SW, 0x01); // Gyro Calibration
}
}
else // FX816 & FX620
{
uint8_t offset=sub_protocol == FX816 ? FX816_CH_OFFSET:FX620_CH_OFFSET;
val=convert_channel_8b(AILERON);
if(val>127+FX_SWITCH)
packet[offset] = sub_protocol == FX816 ? 1:0xFF;
else if(val<127-FX_SWITCH)
packet[offset] = sub_protocol == FX816 ? 2:0x00;
else
packet[offset] = sub_protocol == FX816 ? 0:0x7F;
packet[offset+1] = convert_channel_16b_limit(THROTTLE,0,100); //FX816:0x00..0x63, FX620:0x00..0x5E but that should work
}
//Bind and specifics
if(sub_protocol == FX816)
@@ -162,7 +182,7 @@ static void __attribute__((unused)) FX_send_packet()
packet[5] = 0xAB; // Is it based on ID??
}
}
else // FX9630 & FX_Q560 & FX_QF012 & FX_BM26
else // FX9630 & FX_Q560 & FX_QF012 & FX_BM26 & FX_A570
{
if(IS_BIND_IN_PROGRESS)
{
@@ -202,6 +222,7 @@ static void __attribute__((unused)) FX_send_packet()
static void __attribute__((unused)) FX_RF_init()
{
XN297_Configure(XN297_CRCEN, XN297_SCRAMBLED, XN297_1M);
packet_length = FX9630_PAYLOAD_SIZE; // default
if(sub_protocol == FX816)
{
XN297_SetTXAddr((uint8_t *)"\xcc\xcc\xcc\xcc\xcc", 5);
@@ -221,14 +242,18 @@ static void __attribute__((unused)) FX_RF_init()
XN297_SetTXAddr((uint8_t *)"\x12\x34\x10\x10", 4);
XN297_RFChannel(FX_BM26_BIND_CHANNEL);
packet_period = FX_BM26_PACKET_PERIOD;
packet_length = FX9630_PAYLOAD_SIZE;
}
else if(sub_protocol == FX_A570)
{
XN297_SetTXAddr((uint8_t *)"\x56\x78\x92\x13", 4);
XN297_RFChannel(FX9630_BIND_CHANNEL);
packet_period = FX_A570_PACKET_PERIOD;
}
else // FX9630 & FX_Q560 & FX_QF012
{
XN297_SetTXAddr((uint8_t *)"\x56\x78\x90\x12", 4);
XN297_RFChannel(FX9630_BIND_CHANNEL);
packet_period = sub_protocol == FX_QF012 ? FX_QF012_PACKET_PERIOD : FX9630_PACKET_PERIOD;
packet_length = FX9630_PAYLOAD_SIZE;
}
}
@@ -255,10 +280,11 @@ static void __attribute__((unused)) FX_initialize_txid()
for(uint8_t i=1;i<FX_NUM_CHANNELS;i++)
hopping_frequency[i] = i*10 + hopping_frequency[0];
}
else // FX9630 & FX_Q560 & FX_QF012 & FX_BM26
else // FX9630 & FX_Q560 & FX_QF012 & FX_BM26 & FX_A570
{
//??? Need to find out how the first RF channel is calculated ???
hopping_frequency[0] = sub_protocol == FX_BM26? 0x0C : 0x13;
if (sub_protocol == FX_A570) hopping_frequency[0] = 0x0E;
//Other 2 RF channels are sent during the bind phase so they can be whatever
hopping_frequency[1] = RX_num & 0x0F + 0x1A;
hopping_frequency[2] = rx_tx_addr[3] & 0x0F + 0x38;
@@ -275,6 +301,10 @@ static void __attribute__((unused)) FX_initialize_txid()
//memcpy(hopping_frequency,"\x0D\x20\x3A", FX9630_NUM_CHANNELS);
#endif
// BM26 rx_tx_addr: "\x17\x03\x00\x00", hopping_frequency: 0x0C,0x30,0x43(12,48,67)
#ifdef FORCE_FX_A570_ID
memcpy(rx_tx_addr,(uint8_t*)"\xA9\x56\xFC\x1C", 4);
memcpy(hopping_frequency,"\x0E\x1F\x39", FX9630_NUM_CHANNELS); //Original dump=>14=0x0E,31=0x1F,57=0x39
#endif
}
}
@@ -311,7 +341,7 @@ uint16_t FX_callback()
}
FX_send_packet();
#ifdef FX_HUB_TELEMETRY
if(sub_protocol < FX9630)
if (sub_protocol == FX816 || sub_protocol == FX620 || sub_protocol == FX_A570)
break;
if(rx)
{

2
Multiprotocol/Multi.txt
View File

@@ -55,7 +55,7 @@
55,Frsky_RX,Multi,CloneTX,EraseTX,CPPM
56,AFHDS2A_RX,Multi,CPPM
57,HoTT,Sync,No_Sync
58,FX,FX816,FX620,9630,Q560,QF012,BM26,FX818
58,FX,FX816,FX620,9630,Q560,QF012,BM26,A570
59,Bayang_RX,Multi,CPPM
60,Pelikan,Pro,Lite,SCX24
61,EazyRC

2
Multiprotocol/Multi_Protos.ino
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@@ -188,7 +188,7 @@ const char STR_SUBTYPE_JJRC345[] = "\x08""JJRC345\0""SkyTmblr";
const char STR_SUBTYPE_MOULDKG[] = "\x05""A4444""D4444""A664\0";
const char STR_SUBTYPE_KF606[] = "\x06""KF606\0""MIG320""ZCZ50\0";
const char STR_SUBTYPE_E129[] = "\x04""E129""C186";
const char STR_SUBTYPE_FX[] = "\x05""FX816""FX620""9630\0""Q560\0""QF012""BM26\0""FX818";
const char STR_SUBTYPE_FX[] = "\x05""FX816""FX620""9630\0""Q560\0""QF012""BM26\0""A570\0";
const char STR_SUBTYPE_SGF22[] = "\x04""F22\0""F22S""J20\0""CX10";
const char STR_SUBTYPE_JIABAILE[] = "\x04""Std\0""Gyro";
#define NO_SUBTYPE nullptr

4
Multiprotocol/Multiprotocol.h
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@@ -19,7 +19,7 @@
#define VERSION_MAJOR 1
#define VERSION_MINOR 3
#define VERSION_REVISION 4
#define VERSION_PATCH_LEVEL 55
#define VERSION_PATCH_LEVEL 56
#define MODE_SERIAL 0
@@ -494,7 +494,7 @@ enum FX
FX_Q560 = 3,
FX_QF012 = 4,
FX_BM26 = 5,
FX818 = 6,
FX_A570 = 6,
};
enum SGF22
{

2
Multiprotocol/_Config.h
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@@ -700,7 +700,7 @@ const PPM_Parameters PPM_prot[14*NBR_BANKS]= {
FX_Q560
FX_QF012
FX_BM26
FX818
FX_A570
PROTO_FY326
FY326
FY319