Disable channel mapping + telemetry inversion

Multiprotocol/DSM_cyrf6936.ino

@@ -273,8 +273,8 @@ static void __attribute__((unused)) DSM_build_data_packet(uint8_t upper)
 			/* Spektrum own remotes transmit normal values during bind and actually use this (e.g. Nano CP X) to
 			   select the transmitter mode (e.g. computer vs non-computer radio), so always send normal output */
 			#ifdef DSM_THROTTLE_KILL_CH
-				if(CH_TAER[idx]==THROTTLE && kill_ch<=604)
+				if(idx==CH1 && kill_ch<=604)
-				{//Activate throttle kill only if DSM_THROTTLE_KILL_CH below -50%
+				{//Activate throttle kill only if channel is throttle and DSM_THROTTLE_KILL_CH below -50%
 					if(kill_ch<CHANNEL_MIN_100)					// restrict val to 0...400
 						kill_ch=0;
 					else

Multiprotocol/FlySky_a7105.ino

@@ -145,7 +145,7 @@ static void __attribute__((unused)) flysky_build_packet(uint8_t init)
 	for(i = 0; i < 8; i++)
 	{
 		uint16_t temp=convert_channel_ppm(CH_AETR[i]);
-		if(sub_protocol == CX20 && CH_AETR[i]==ELEVATOR)
+		if(sub_protocol == CX20 && i==CH2) //ELEVATOR
 			temp=3000-temp;
 		packet[5 + i*2]=temp&0xFF;		//low byte of servo timing(1000-2000us)
 		packet[6 + i*2]=(temp>>8)&0xFF;	//high byte of servo timing(1000-2000us)

Multiprotocol/Hisky_nrf24l01.ino

@@ -123,8 +123,8 @@ static void __attribute__((unused)) build_ch_data()
 	for (i = 0; i< 8; i++) {
 		j=CH_AETR[i];
 		temp=convert_channel_16b_limit(j,0,1000);            			
-		if (j == THROTTLE) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
+		if (j == CH3) // It is clear that hisky's throttle stick is made reversely, so I adjust it here on purpose
-			temp = 1000 -temp;
+			temp = 1000 - temp;
 		if (j == CH7)
 			temp = temp < 400 ? 0 : 3; // Gyro mode, 0 - 6 axis, 3 - 3 axis 
 		packet[i] = (uint8_t)(temp&0xFF);

Multiprotocol/Multiprotocol.h

@@ -19,7 +19,7 @@
 #define VERSION_MAJOR		1
 #define VERSION_MINOR		3
 #define VERSION_REVISION	0
-#define VERSION_PATCH_LEVEL	9
+#define VERSION_PATCH_LEVEL	10
 
 //******************
 // Protocols
@@ -829,11 +829,13 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
    Values are concatenated to fit in 22 bytes like in SBUS protocol.
    Failsafe values have exactly the same range/values than normal channels except the extremes where
       0=no pulse, 2047=hold. If failsafe is not set or RX then failsafe packets should not be sent.
-  Stream[26]   = sub_protocol bits 6 & 7|RxNum bits 4 & 5|Disable_CH_Mapping 3|Disable_Telemetry 2|future use 1|future use 0;
+  Stream[26]   = sub_protocol bits 6 & 7|RxNum bits 4 & 5|Disable_Telemetry 3|Disable_CH_Mapping 2|Future_Use 1|Telem_Invert 0;
    sub_protocol is 0..255 (bits 0..5 + bits 6..7)
    RxNum value is 0..63 (bits 0..3 + bits 4..5)
-   Disable_CH_Mapping => 0x08	0=enable, 1=disable
+   Disable_Telemetry	=> 0x08	0=enable, 1=disable
-   Disable_Telemetry => 0x04	0=enable, 1=disable
+   Disable_CH_Mapping	=> 0x04	0=enable, 1=disable
+   Future_Use			=> 0x02	0=      , 1=
+   Telem_Invert			=> 0x01	0=normal, 1=invert
   Stream[27.. 36] = between 0 and 9 bytes for additional protocol data
 */
 /*
@@ -855,6 +857,7 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
    0x08 = Module is in binding mode
    0x10 = Module waits a bind event to load the protocol
    0x20 = Current protocol supports failsafe
+   0x40 = Current protocol supports disable channel mapping
    0x80 = Data buffer is almost full
    [3] major
    [4] minor

Multiprotocol/Multiprotocol.ino

@@ -132,7 +132,7 @@ uint8_t  num_ch;
 //Channel mapping for protocols
 uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
 uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
-uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
+//uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
 uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, CH5, CH6, CH7, CH8, CH9, CH10, CH11, CH12, CH13, CH14, CH15, CH16};
 
 // Mode_select variables
@@ -1402,6 +1402,15 @@ static void protocol_init()
 
 void update_serial_data()
 {
+	static bool prev_ch_mapping=false;
+	#ifdef TELEMETRY
+		#ifdef INVERT_TELEMETRY
+			static bool prev_inv_telem=true;
+		#else
+			static bool prev_inv_telem=false;
+		#endif
+	#endif
+
 	RX_DONOTUPDATE_on;
 	RX_FLAG_off;								//data is being processed
 
@@ -1473,21 +1482,67 @@ void update_serial_data()
 		if(rx_ok_buff[0]&0x02)
 		{ // Packet contains failsafe instead of channels
 			failsafe=true;
-			rx_ok_buff[0]&=0xFD;				//remove the failsafe flag
+			rx_ok_buff[0]&=0xFD;				// Remove the failsafe flag
-			FAILSAFE_VALUES_on;					//failsafe data has been received
+			FAILSAFE_VALUES_on;					// Failsafe data has been received
 			debugln("Failsafe received");
 		}
 	#endif
 
-	//DISABLE_CH_MAP_off;
+	DISABLE_CH_MAP_off;
 	DISABLE_TELEM_off;
 	if(rx_len>26)
 	{//Additional flag received at the end
 		rx_ok_buff[0]=(rx_ok_buff[26]&0xF0) | (rx_ok_buff[0]&0x0F);	// Additional protocol numbers and RX_Num available -> store them in rx_ok_buff[0]
-		//if(rx_ok_buff[26]&0x08)
+		if(rx_ok_buff[26]&0x08)
-		//	DISABLE_CH_MAP_on;
-		if(rx_ok_buff[26]&0x04)
 			DISABLE_TELEM_on;
+		if(rx_ok_buff[26]&0x04)
+			DISABLE_CH_MAP_on;
+		#if defined TELEMETRY
+			if((rx_ok_buff[26]&0x01) ^ prev_inv_telem)
+			{ //value changed
+				if(rx_ok_buff[26]&0x01)
+				{								// Invert telemetry
+					debugln("Invert telem %d,%d",rx_ok_buff[26]&0x01,prev_inv_telem);
+					#ifdef ORANGE_TX
+						PORTC.PIN3CTRL |= 0x40 ;
+					#endif
+					#ifdef STM32_BOARD
+						TX_INV_on;
+						RX_INV_on;
+					#endif
+				}
+				else
+				{									// Normal telemetry
+					debugln("Normal telem %d,%d",rx_ok_buff[26]&0x01,prev_inv_telem);
+					#ifdef ORANGE_TX
+						PORTC.PIN3CTRL &= 0xBF ;
+					#endif
+					#ifdef STM32_BOARD
+						TX_INV_off;
+						RX_INV_off;
+					#endif
+				}
+				prev_inv_telem=rx_ok_buff[26]&0x01;
+			}
+		#endif
+	}
+
+	if(prev_ch_mapping!=IS_DISABLE_CH_MAP_on)
+	{
+		prev_ch_mapping=IS_DISABLE_CH_MAP_on;
+		if(IS_DISABLE_CH_MAP_on)
+		{
+			for(uint8_t i=0;i<4;i++)
+				CH_AETR[i]=CH_TAER[i]=CH_EATR[i]=i;
+			debugln("DISABLE_CH_MAP_on");
+		}
+		else
+		{
+			CH_AETR[0]=AILERON;CH_AETR[1]=ELEVATOR;CH_AETR[2]=THROTTLE;CH_AETR[3]=RUDDER;
+			CH_TAER[0]=THROTTLE;CH_TAER[1]=AILERON;CH_TAER[2]=ELEVATOR;CH_TAER[3]=RUDDER;
+			CH_EATR[0]=ELEVATOR;CH_EATR[1]=AILERON;CH_EATR[2]=THROTTLE;CH_EATR[3]=RUDDER;
+			debugln("DISABLE_CH_MAP_off");
+		}
 	}
 	
 	if( (rx_ok_buff[0] != cur_protocol[0]) || ((rx_ok_buff[1]&0x5F) != (cur_protocol[1]&0x5F)) || ( (rx_ok_buff[2]&0x7F) != (cur_protocol[2]&0x7F) ) )

Multiprotocol/SFHSS_cc2500.ino

@@ -173,8 +173,8 @@ static void __attribute__((unused)) SFHSS_build_data_packet()
 				else
 				{ //Use channel value
 					ch[i]=(ch[i]>>1)+2560;
-					if(CH_AETR[ch_offset+i]==THROTTLE && ch[i]<3072)		// Throttle
+					//if(IS_DISABLE_CH_MAP_off && ch_offset+i==CH3 && ch[i]<3072)		// Throttle
-						ch[i]+=1024;
+					//	ch[i]+=1024;
 				}
 			}
 		}

Multiprotocol/SLT_nrf24l01.ino

@@ -141,7 +141,7 @@ static void __attribute__((unused)) SLT_build_packet()
 	for (uint8_t i = 0; i < 4; ++i)
 	{
 		uint16_t v = convert_channel_10b(CH_AETR[i]);
-		if(sub_protocol>SLT_V2 && (CH_AETR[i]==THROTTLE || CH_AETR[i]==ELEVATOR) )
+		if(sub_protocol>SLT_V2 && (i==CH1 || i==CH3) )
 			v=1023-v;	// reverse throttle and elevator channels for Q100/Q200/MR100 protocols
 		packet[i] = v;
 		e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);

Multiprotocol/Telemetry.ino

@@ -94,23 +94,31 @@ static void multi_send_status()
 		else
 			if (IS_BIND_IN_PROGRESS)
 				flags |= 0x08;
-		#ifdef FAILSAFE_ENABLE
+		switch (protocol)
-			//Is failsafe supported?
+		{
-			switch (protocol)
+			case PROTO_HISKY:
-			{
+				if(sub_protocol!=HK310)
-				case PROTO_HISKY:
-					if(sub_protocol!=HK310)
-						break;
-				case PROTO_AFHDS2A:
-				case PROTO_DEVO:
-				case PROTO_SFHSS:
-				case PROTO_WK2x01:
-				case PROTO_FRSKYX:
-					flags |= 0x20;	//Yes
-				default:
 					break;
-			}
+			case PROTO_AFHDS2A:
-		#endif
+			case PROTO_DEVO:
+			case PROTO_SFHSS:
+			case PROTO_WK2x01:
+				#ifdef FAILSAFE_ENABLE
+					flags |= 0x20;			//Failsafe supported
+				#endif
+			case PROTO_DSM:
+			case PROTO_SLT:
+			case PROTO_FLYSKY:
+			case PROTO_ESKY:
+			case PROTO_J6PRO:
+				flags |= 0x40;				//Disable_ch_mapping supported
+				break;
+			case PROTO_FRSKYX:
+				#ifdef FAILSAFE_ENABLE
+					flags |= 0x20;			//Failsafe supported
+				#endif
+				break;
+		}
 		if(IS_DATA_BUFFER_LOW_on)
 			flags |= 0x80;
 	}