Merge pull request #2 from tipouic/flysky_afhds2a

Flysky afhds2a

Multiprotocol/Bayang_nrf24l01.ino

@@ -16,9 +16,14 @@ Multiprotocol is distributed in the hope that it will be useful,
 // Last sync with hexfet new_protocols/bayang_nrf24l01.c dated 2015-12-22
 
 #if defined(BAYANG_NRF24L01_INO)
-
 #include "iface_nrf24l01.h"
 
+#ifdef ENABLE_BAYANG_TELEMETRY
+	#define BAYANG_PACKET_PERIOD_TELEM    3200
+	uint32_t bayang_telemetry_last_rx = 0;
+#endif
+
+
 #define BAYANG_BIND_COUNT		1000
 #define BAYANG_PACKET_PERIOD	2000
 #define BAYANG_INITIAL_WAIT		500
@@ -31,11 +36,24 @@ enum BAYANG_FLAGS {
 	// flags going to packet[2]
 	BAYANG_FLAG_RTH			= 0x01,
 	BAYANG_FLAG_HEADLESS	= 0x02,
+#ifdef ENABLE_BAYANG_TELEMETRY
+	BAYANG_FLAG_TELEMETRY	= 0x04,
+#endif
 	BAYANG_FLAG_FLIP		= 0x08,
 	BAYANG_FLAG_VIDEO		= 0x10, 
 	BAYANG_FLAG_PICTURE		= 0x20, 
 	// flags going to packet[3]
-    BAYANG_FLAG_INVERTED	= 0x80 // inverted flight on Floureon H101
+	BAYANG_FLAG_INVERTED	= 0x80, // inverted flight on Floureon H101
+#ifdef ENABLE_BAYANG_TELEMETRY
+	BAYANG_FLAG_FLIGHT_MODE0 = 0x01,
+	BAYANG_FLAG_FLIGHT_MODE1 = 0x02,
+	BAYANG_FLAG_DATA_SELECT0 = 0x04,
+	BAYANG_FLAG_DATA_SELECT1 = 0x08,
+	BAYANG_FLAG_DATA_SELECT2 = 0x10,
+	BAYANG_FLAG_DATA_ADJUST0 = 0x20,
+	BAYANG_FLAG_DATA_ADJUST1 = 0x40,
+#endif
+
 };
 
 static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
@@ -53,6 +71,12 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
 	}
 	else
 	{
+
+		int telem_enabled = 0;
+#ifdef ENABLE_BAYANG_TELEMETRY
+		telem_enabled = (sub_protocol == BAYANG_TELEM);
+		// telem_enabled &= Servo_AUX8; // enable telem with a switch
+#endif
 		uint16_t val;
 		packet[0] = 0xA5;
 		packet[1] = 0xFA;		// normal mode is 0xf7, expert 0xfa
@@ -69,11 +93,111 @@ static void __attribute__((unused)) BAYANG_send_packet(uint8_t bind)
 			packet[2] |= BAYANG_FLAG_VIDEO;
 		if(Servo_AUX5)
 			packet[2] |= BAYANG_FLAG_HEADLESS;
+
+#ifdef ENABLE_BAYANG_TELEMETRY
+		if (telem_enabled)
+		{
+			packet[2] |= BAYANG_FLAG_TELEMETRY;
+		}
+#endif
+	  
+
 		//Flags packet[3]
 		packet[3] = 0x00;
 		if(Servo_AUX6)
 			packet[3] = BAYANG_FLAG_INVERTED;
 
+#ifdef ENABLE_BAYANG_TELEMETRY
+		if (telem_enabled)
+		{
+			static uint8_t dataselect = 2;
+			uint8_t dataselect_old = dataselect;
+			uint16_t partitions[4] ={1200,1400,1600,1800}; // 5 options (previous data set, data 1, data 2, data 3, next data set)
+			for (uint8_t i = 0; i < 4; ++i)
+			{
+				int16_t hysteresis = 0;
+				if (dataselect_old*2 == (i*2+1) - 1)
+				{
+					hysteresis = 25;
+				}
+				else if (dataselect_old*2 == (i*2+1) + 1)
+				{
+					hysteresis = -25;
+				}
+				
+				if (Servo_data[AUX7] <= partitions[i] + hysteresis)
+				{
+					dataselect = i;
+					break;
+				}
+				else
+				{
+					dataselect = i+1;
+				}
+			}
+			
+			// data adjust 1333  1666 - aux 6
+			static uint8_t dataadjust = 1;
+			uint8_t dataadjust_old = dataadjust;
+			partitions[0] = 1333; // three options (decreaes, do nothing, increase)
+			partitions[1] = 1666;
+			for (uint8_t i = 0; i < 2; ++i)
+			{
+				int16_t hysteresis = 0;
+				if (dataadjust_old*2 == (i*2+1) - 1)
+				{
+					hysteresis = 25;
+				}
+				else if (dataadjust_old*2 == (i*2+1) + 1)
+				{
+					hysteresis = -25;
+				}
+				
+				if (Servo_data[AUX8] <= partitions[i] + hysteresis)
+				{
+					dataadjust = i;
+					break;
+				}
+				else
+				{
+					dataadjust = i+1;
+				}
+			}
+			
+			static uint8_t flightmode = 0;
+			// flight mode 1250 1500 1750 - aux 1
+			uint8_t flightmode_old = flightmode;
+			partitions[0] = 1250;  // 4 flight modes
+			partitions[1] = 1500;
+			partitions[2] = 1750;
+			for (uint8_t i = 0; i < 3; ++i)
+			{
+				int16_t hysteresis = 0;
+				if (flightmode_old*2 == (i*2+1) - 1)
+				{
+					hysteresis = 25;
+				}
+				else if (flightmode_old*2 == (i*2+1) + 1)
+				{
+					hysteresis = -25;
+				}
+				
+				if (Servo_data[AUX9] <= partitions[i] + hysteresis)
+				{
+					flightmode = i;
+					break;
+				}
+				else
+				{
+					flightmode = i+1;
+				}
+			}
+			packet[3] |= (flightmode & 0x3);
+			packet[3] |= (dataselect & 0x7) << 2;
+			packet[3] |= (dataadjust & 0x3) << 5;
+		}
+#endif		
+
 		//Aileron
 		val = convert_channel_10b(AILERON);
 		packet[4] = (val>>8) + ((val>>2) & 0xFC);
@@ -123,20 +247,43 @@ static void __attribute__((unused)) BAYANG_init()
 	NRF24L01_FlushRx();
 	NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);     // Clear data ready, data sent, and retransmit
 	NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00);      // No Auto Acknowldgement on all data pipes
+	
+	NRF24L01_WriteReg(NRF24L01_11_RX_PW_P0, BAYANG_PACKET_SIZE); // rx pipe 0
 	NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);  // Enable data pipe 0 only
+	NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
+	NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits
 	NRF24L01_SetBitrate(NRF24L01_BR_1M);             // 1Mbps
+	NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00);      // Disable dynamic payload length on all pipes
 	NRF24L01_SetPower();
+
 }
 
 uint16_t BAYANG_callback()
 {
 	if(IS_BIND_DONE_on)
+	{
+#ifdef ENABLE_BAYANG_TELEMETRY
+		if(sub_protocol == BAYANG_TELEM)
+		{
+			Bayang_process();
+			// Return 0 here so that Bayang_process is called as often as possible
+			// to check for the incomming telemetry data. When telemetry is enabled
+			// the packet period is handled in the Bayang_process function.
+			return 0; 
+		}
+		else
+#endif
+		{
 			BAYANG_send_packet(0);
+		}
+	}
 	else
 	{
 		if (bind_counter == 0)
 		{
 			XN297_SetTXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
+			XN297_SetRXAddr(rx_tx_addr, BAYANG_ADDRESS_LENGTH);
+
 			BIND_DONE;
 		}
 		else
@@ -167,4 +314,147 @@ uint16_t initBAYANG(void)
 	return BAYANG_INITIAL_WAIT+BAYANG_PACKET_PERIOD;
 }
 
+
+#ifdef ENABLE_BAYANG_TELEMETRY
+	extern float    telemetry_voltage;
+	extern uint8_t  telemetry_rx_rssi;
+	extern uint8_t  telemetry_tx_rssi;
+	extern uint8_t  telemetry_datamode;
+	extern float    telemetry_data[3]; // pids
+	extern uint8_t  telemetry_dataitem;
+	extern uint16_t telemetry_uptime;
+	extern uint16_t telemetry_flighttime;
+	extern uint8_t  telemetry_flightmode;
+
+	uint8_t telemetry_tx_rssi_count;
+	uint8_t telemetry_tx_rssi_next;
+
+
+	uint8_t BAYANG_recv_packet() {
+		uint8_t received = 0;
+		if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_RX_DR)) {
+			int sum = 0;
+			uint16_t roll, pitch, yaw, throttle;
+
+			XN297_ReadPayload(packet, BAYANG_PACKET_SIZE);
+			
+			NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
+			NRF24L01_FlushRx();
+			
+			if (packet[0] == 0xA9) {
+				//serialDebug.print("data packet");
+				for (int i = 0; i < 14; i++) {
+					sum += packet[i];
+				}
+				if ( (sum & 0xFF) == packet[14] ) {
+					typedef union {
+						uint16_t v;
+						uint8_t  bytes[2];
+					} val;
+					val v;
+					
+					v.bytes[0] = packet[1];
+					v.bytes[1] = packet[2];
+					telemetry_voltage = v.v / 100.f;
+
+					telemetry_rx_rssi = packet[3];
+					
+
+					v.bytes[0] = packet[4];
+					v.bytes[1] = (packet[6] & 0x0F); // 12 bit # shared with flighttime
+					telemetry_uptime = v.v;
+					
+					v.bytes[0] = packet[5];
+					v.bytes[1] = (packet[6] >> 4);
+					telemetry_flighttime = v.v;
+					
+					telemetry_flightmode = packet[7] & 0x3; // 0 = level, 1 = acro,
+					telemetry_datamode   = (packet[7] >> 2) & 0xF;  // (0=acro yaw, 1=acro roll/acro pitch, 2=level roll/pitch)
+					telemetry_dataitem   = (packet[7] >> 6) & 0x3;  // (0=acro yaw, 1=acro roll/acro pitch, 2=level roll/pitch)
+					
+					v.bytes[0] = packet[8];
+					v.bytes[1] = packet[9];
+					telemetry_data[0] = v.v/1000.f;
+					
+					v.bytes[0] = packet[10];
+					v.bytes[1] = packet[11];
+					telemetry_data[1] = v.v/1000.f;
+					
+					v.bytes[0] = packet[12];
+					v.bytes[1] = packet[13];
+					telemetry_data[2] = v.v/1000.f;
+				}
+			}
+			received = 1;
+		}
+		return received;
+	}
+
+
+	typedef enum
+	{
+		BAYANG_STATE_IDLE,
+		BAYANG_STATE_TRANSMITTING,
+		BAYANG_STATE_RECEIEVING,
+	} BayangState;
+
+	BayangState Bayang_state = BAYANG_STATE_IDLE;
+	uint32_t Bayang_next_send = 0;
+
+	void Bayang_process() {
+		uint32_t time_micros = micros();
+		
+		if (BAYANG_STATE_TRANSMITTING == Bayang_state) {
+			if (NRF24L01_ReadReg(NRF24L01_07_STATUS) & _BV(NRF24L01_07_TX_DS)) {
+				// send finished, switch to rx to receive telemetry
+				XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP) | _BV(NRF24L01_00_PRIM_RX));
+				NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);
+				NRF24L01_FlushTx();
+				NRF24L01_FlushRx();
+				
+				telemetry_tx_rssi_count++;
+				
+				Bayang_state = BAYANG_STATE_RECEIEVING;
+			}
+		}
+		else if (BAYANG_STATE_RECEIEVING == Bayang_state) {
+			// 250us is about the time it takes to read a packet over spi
+			if (time_micros > (Bayang_next_send-250)) {
+				// didnt receive telemetry in time
+				Bayang_state = BAYANG_STATE_IDLE;
+
+				// if it's been a while since receiving telemetry data,
+				// stop sending the telemetry data to the transmitter
+				if (millis() - bayang_telemetry_last_rx > 1000)
+					telemetry_lost = 1;
+			}
+			else if (BAYANG_recv_packet()) {
+				telemetry_tx_rssi_next++;
+				// received telemetry packet
+				telemetry_lost = 0;
+				bayang_telemetry_last_rx = millis();
+			}
+			else
+			{
+				return;
+			}
+		
+			if (100 == telemetry_tx_rssi_count)
+			{
+				telemetry_tx_rssi = telemetry_tx_rssi_next;
+				telemetry_tx_rssi_next = 0;
+				telemetry_tx_rssi_count = 0;
+			}
+			
+			Bayang_state = BAYANG_STATE_IDLE;
+			XN297_Configure(_BV(NRF24L01_00_EN_CRC) | _BV(NRF24L01_00_CRCO) | _BV(NRF24L01_00_PWR_UP));
+			NRF24L01_FlushRx();
+		}
+		else if (time_micros > Bayang_next_send) {
+			BAYANG_send_packet(0);
+			Bayang_state = BAYANG_STATE_TRANSMITTING;
+			Bayang_next_send = time_micros + BAYANG_PACKET_PERIOD_TELEM;
+		}
+	}
+#endif //ENABLE_BAYANG_TELEMETRY
 #endif

Multiprotocol/CX10_nrf24l01.ino

@@ -22,7 +22,7 @@
 #define CX10_BIND_COUNT		4360   // 6 seconds
 #define CX10_PACKET_SIZE	15
 #define CX10A_PACKET_SIZE	19       // CX10 blue board packets have 19-byte payload
-#define Q282_PACKET_SIZE	21
+#define Q2X2_PACKET_SIZE	21
 #define CX10_PACKET_PERIOD	1316  // Timeout for callback in uSec
 #define CX10A_PACKET_PERIOD	6000
 
@@ -57,21 +57,14 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 	packet[3] = rx_tx_addr[2];
 	packet[4] = rx_tx_addr[3];
 	// packet[5] to [8] (aircraft id) is filled during bind for blue board
-	packet[5+offset] = lowByte(Servo_data[AILERON]);
+	uint16_t aileron=Servo_data[AILERON];
-	packet[6+offset]= highByte(Servo_data[AILERON]);
+	uint16_t elevator=3000-Servo_data[ELEVATOR];
-	packet[7+offset]= lowByte(Servo_data[ELEVATOR]);
+	uint16_t rudder=3000-Servo_data[RUDDER];
-	packet[8+offset]= highByte(Servo_data[ELEVATOR]);
 	packet[9+offset]= lowByte(Servo_data[THROTTLE]);
 	packet[10+offset]= highByte(Servo_data[THROTTLE]);
-	packet[11+offset]= lowByte(Servo_data[RUDDER]);
-	packet[12+offset]= highByte(Servo_data[RUDDER]);
 
     // Channel 5 - flip flag
-	if(Servo_AUX1)
+	packet[12+offset] = GET_FLAG(Servo_AUX1,CX10_FLAG_FLIP); // flip flag applied on rudder
-		packet[12+offset] |= CX10_FLAG_FLIP; // flip flag
-
-	//flags=0;	// packet 13
-	uint8_t flags2=0;	// packet 14
 
 	// Channel 6 - rate mode is 2 lsb of packet 13
 	if(Servo_data[AUX2] > PPM_MAX_COMMAND)		// rate 3 / headless on CX-10A
@@ -81,6 +74,7 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 			flags = 0x00;			// rate 1
 		else
 			flags = 0x01;			// rate 2
+	uint8_t flags2=0;	// packet 14
 
 	uint8_t video_state=packet[14] & 0x21;
 	switch(sub_protocol)
@@ -91,6 +85,9 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 			break;
 		case Q282:
 		case Q242:
+		case Q222:
+			aileron = 3000 - aileron;
+			rudder = 3000 - rudder;
 			memcpy(&packet[15], "\x10\x10\xaa\xaa\x00\x00", 6);
 			//FLIP|LED|PICTURE|VIDEO|HEADLESS|RTH|XCAL|YCAL
 			flags2 = GET_FLAG(Servo_AUX1, 0x80)		// Channel 5 - FLIP
@@ -111,7 +108,7 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 				flags2 |= video_state
 						|GET_FLAG(Servo_AUX3,0x10);	// Channel 7 - picture
 			}
-			else
+			else if(sub_protocol==Q242)
 			{
 				flags=2;
 				flags2|= GET_FLAG(Servo_AUX3,0x01)	// Channel 7 - picture
@@ -119,15 +116,22 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 				packet[17]=0x00;
 				packet[18]=0x00;
 			}
+			else
+			{	// Q222
+				flags=0;
+			}
 			if(Servo_AUX6)	flags |=0x80;			// Channel 10 - RTH
 			break;
 		case DM007:
+			aileron = 3000 - aileron;
 			//FLIP|MODE|PICTURE|VIDEO|HEADLESS
 			flags2=  GET_FLAG(Servo_AUX3,CX10_FLAG_SNAPSHOT)	// Channel 7 - picture
 					|GET_FLAG(Servo_AUX4,CX10_FLAG_VIDEO);		// Channel 8 - video
 			if(Servo_AUX5)	flags |= CX10_FLAG_HEADLESS;		// Channel 9 - headless
 			break;
 		case JC3015_2:
+			aileron = 3000 - aileron;
+			elevator = 3000 - elevator;
 			//FLIP|MODE|LED|DFLIP
 			if(Servo_AUX4)	packet[12] &= ~CX10_FLAG_FLIP;
 		case JC3015_1:
@@ -136,6 +140,7 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 					|GET_FLAG(Servo_AUX4,_BV(4));	// Channel 8
 			break;
 		case MK33041:
+			elevator = 3000 - elevator;
 			//FLIP|MODE|PICTURE|VIDEO|HEADLESS|RTH
 			flags|=GET_FLAG(Servo_AUX3,_BV(7))	// Channel 7 - picture
 				  |GET_FLAG(Servo_AUX6,_BV(2));	// Channel 10 - rth
@@ -143,6 +148,12 @@ static void __attribute__((unused)) CX10_Write_Packet(uint8_t bind)
 				  |GET_FLAG(Servo_AUX5,_BV(5));	// Channel 9 - headless
 			break;
 	}
+	packet[5+offset] = lowByte(aileron);
+	packet[6+offset]= highByte(aileron);
+	packet[7+offset]= lowByte(elevator);
+	packet[8+offset]= highByte(elevator);
+	packet[11+offset]= lowByte(rudder);
+	packet[12+offset]|= highByte(rudder);
 	packet[13+offset]=flags;
 	packet[14+offset]=flags2;
 	
@@ -233,20 +244,15 @@ uint16_t CX10_callback()
 static void __attribute__((unused)) CX10_initialize_txid()
 {
 	rx_tx_addr[1]%= 0x30;
-	if(sub_protocol==Q282)
+	if(sub_protocol&0x08)	//Q2X2 protocols
 	{
-		hopping_frequency[0] = 0x46;
+		uint8_t offset=0;	//Q282
-		hopping_frequency[1] = 0x48;
-		hopping_frequency[2] = 0x4a;
-		hopping_frequency[3] = 0x4c;
-	}
-	else
 		if(sub_protocol==Q242)
-		{
+			offset=2;
-			hopping_frequency[0] = 0x48;
+		if(sub_protocol==Q222)
-			hopping_frequency[1] = 0x4a;
+			offset=3;
-			hopping_frequency[2] = 0x4c;
+		for(uint8_t i=0;i<4;i++)
-			hopping_frequency[3] = 0x4e;
+			hopping_frequency[i]=0x46+2*i+offset;
 	}
 	else
 	{
@@ -272,8 +278,8 @@ uint16_t initCX10(void)
 	}
 	else
 	{
-		if(sub_protocol==Q282||sub_protocol==Q242)
+		if(sub_protocol&0x08)	//Q2X2 protocols
-			packet_length = Q282_PACKET_SIZE;
+			packet_length = Q2X2_PACKET_SIZE;
 		else
 		    packet_length = CX10_PACKET_SIZE;
 		packet_period = CX10_PACKET_PERIOD;

Multiprotocol/Multiprotocol.ino

@@ -54,7 +54,7 @@
 //Global constants/variables
 uint32_t MProtocol_id;//tx id,
 uint32_t MProtocol_id_master;
-uint32_t blink=0; 
+uint32_t blink=0,last_signal=0;
 //
 uint16_t counter;
 uint8_t channel;
@@ -482,7 +482,11 @@ void Update_All()
 		}
 	#endif //ENABLE_PPM
 	#if defined(TELEMETRY)
-		if((protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM) )
+		if((protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM) 
+			#ifdef ENABLE_BAYANG_TELEMETRY
+				|| (protocol==MODE_BAYANG)
+			#endif
+		)
 			TelemetryUpdate();
 	#endif 
 	update_led_status();
@@ -848,6 +852,8 @@ static void protocol_init()
 					break;
 			#endif
 			#if defined(CX10_NRF24L01_INO)
+				case MODE_Q2X2:
+					sub_protocol|=0x08;		// Increase the number of sub_protocols for CX-10
 				case MODE_CX10:
 					next_callback=initCX10();
 					remote_callback = CX10_callback;
@@ -1069,7 +1075,11 @@ void Mprotocol_serial_init()
 	{
 	if( (protocol==MODE_FRSKYD) || (protocol==MODE_HUBSAN) || (protocol==MODE_AFHDS2A) )
 		initTXSerial( SPEED_9600 ) ;
-	if(protocol==MODE_FRSKYX)
+	if(protocol==MODE_FRSKYX
+		#ifdef ENABLE_BAYANG_TELEMETRY
+			|| protocol==MODE_BAYANG
+		#endif
+	)
 		initTXSerial( SPEED_57600 ) ;
 	if(protocol==MODE_DSM)
 		initTXSerial( SPEED_125K ) ;

Multiprotocol/Nrf24l01_q303.ino

@@ -2,7 +2,7 @@
 
 #include "iface_nrf24l01.h"
 
-#define Q303_BIND_COUNT 1200
+#define Q303_BIND_COUNT 2335
 
 #define Q303_PACKET_SIZE  10
 #define Q303_PACKET_PERIOD   1500  // Timeout for callback in uSec
@@ -12,6 +12,15 @@
 
 static uint8_t tx_addr[5];
 static uint8_t current_chan;
+/*
+static const struct {
+    u8 txid[sizeof(txid)];
+    u8 rfchan[NUM_RF_CHANNELS];
+} q303_tx_rf_map[] =  {
+	{{0xb8, 0x69, 0x64, 0x67}, {0x48, 0x4a, 0x4c, 0x46}}, // tx2
+	{{0xAE, 0x89, 0x97, 0x87}, {0x4A, 0x4C, 0x4E, 0x48}}
+}; // tx1
+*/
 uint8_t txid[4] = {0xAE, 0x89, 0x97, 0x87};
 static uint8_t rf_chans[4] = {0x4A, 0x4C, 0x4E, 0x48};
 
@@ -44,10 +53,10 @@ static void send_packet(uint8_t bind)
 		memset(&packet[5], 0, 5);
 	}
 	else {
-		aileron  = 			map(Servo_data[AILERON], 1000, 2000, 0, 1000);
+		aileron  = 1000 -	map(Servo_data[AILERON], 1000, 2000, 0, 1000);
 		elevator = 1000 - 	map(Servo_data[ELEVATOR], 1000, 2000, 0, 1000);
 		throttle = 			map(Servo_data[THROTTLE], 1000, 2000, 0, 1000);
-		rudder   = 1000 - 	map(Servo_data[RUDDER], 1000, 2000, 0, 1000);
+		rudder   = 		 	map(Servo_data[RUDDER], 1000, 2000, 0, 1000);
 
 		packet[0] = 0x55;
 		packet[1] = aileron >> 2     ;     // 8 bits
@@ -125,20 +134,21 @@ static uint16_t q303_init()
 	NRF24L01_Initialize();
 	NRF24L01_SetTxRxMode(TX_EN);
 
+	XN297_SetScrambledMode(XN297_UNSCRAMBLED);
 	XN297_SetTXAddr((uint8_t *) "\xCC\xCC\xCC\xCC\xCC", 5);
 	NRF24L01_FlushTx();
 	NRF24L01_WriteReg(NRF24L01_07_STATUS, 0x70);     // Clear data ready, data sent, and retransmit
 	NRF24L01_WriteReg(NRF24L01_01_EN_AA, 0x00);      // No Auto Acknowldgement on all data pipes
-	NRF24L01_WriteReg(NRF24L01_05_RF_CH, Q303_RF_BIND_CHANNEL);
+	NRF24L01_WriteReg(NRF24L01_02_EN_RXADDR, 0x01);
-	NRF24L01_SetBitrate(NRF24L01_BR_250K);
+	NRF24L01_WriteReg(NRF24L01_03_SETUP_AW, 0x03);
+	NRF24L01_WriteReg(NRF24L01_04_SETUP_RETR, 0x00); // no retransmits	NRF24L01_SetBitrate(NRF24L01_BR_250K);
 	NRF24L01_SetPower();
 
-	// this sequence necessary for module from stock tx
-	NRF24L01_ReadReg(NRF24L01_1D_FEATURE);
 	NRF24L01_Activate(0x73);                          // Activate feature register
-	NRF24L01_ReadReg(NRF24L01_1D_FEATURE);
 	NRF24L01_WriteReg(NRF24L01_1C_DYNPD, 0x00);       // Disable dynamic payload length on all pipes
-	NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x00);     // Set feature bits on
+	NRF24L01_WriteReg(NRF24L01_1D_FEATURE, 0x01);     // Set feature bits on
+	NRF24L01_Activate(0x73);
+	
 	NRF24L01_Activate(0x53); // switch bank back
 
 	BIND_IN_PROGRESS;

Multiprotocol/SLT_nrf24l01.ino

@@ -20,15 +20,20 @@
 
 // For code readability
 #define SLT_PAYLOADSIZE 7
+#define SLT_VISTA_PAYLOADSIZE 11
 #define SLT_NFREQCHANNELS 15
 #define SLT_TXID_SIZE 4
 
 enum {
-	SLT_BUILD=0,
+    // flags going to packet[6]
-	SLT_DATA1,
+    SLT_VISTA_FLAG_FLIP		= 0x04,
-	SLT_DATA2,
+    SLT_VISTA_FLAG_MODE		= 0x20
-	SLT_DATA3,
+};
-	SLT_BIND
+
+enum {
+	SLT_BIND=0,
+	SLT_BUILD,
+	SLT_DATA,
 };
 
 static void __attribute__((unused)) SLT_init()
@@ -103,25 +108,38 @@ static void __attribute__((unused)) SLT_send_data(uint8_t *data, uint8_t len)
 
 static void __attribute__((unused)) SLT_build_packet()
 {
-	// Set radio channel - once per packet batch
-	NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
-	if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
-		hopping_frequency_no = 0;
-
 	// aileron, elevator, throttle, rudder, gear, pitch
 	uint8_t e = 0; // byte where extension 2 bits for every 10-bit channel are packed
 	for (uint8_t i = 0; i < 4; ++i)
 	{
 		uint16_t v = convert_channel_10b(CH_AETR[i]);
+		if(sub_protocol==VISTA && CH_AETR[i]==THROTTLE)
+			v = (uint16_t) map(limit_channel_100(THROTTLE),servo_min_100,servo_max_100,850,150);	// Throttel is between 850=0% and 150=100%
 		packet[i] = v;
 		e = (e >> 2) | (uint8_t) ((v >> 2) & 0xC0);
 	}
 	// Extra bits for AETR
 	packet[4] = e;
+	if(sub_protocol==SLT)
+	{
 		// 8-bit channels
 		packet[5] = convert_channel_8b(AUX1);
 		packet[6] = convert_channel_8b(AUX2);
 	}
+	else
+	{ // VISTA
+		packet[5] = 0xA6;
+		packet[6] = 0x00;
+		if(Servo_AUX1)
+			packet[6] = SLT_VISTA_FLAG_FLIP;
+		if(Servo_AUX2)
+			packet[6] |= SLT_VISTA_FLAG_MODE;
+		packet[7] = 0x00;
+		packet[8] = 0x7F;
+		packet[9] = 0xAA;
+		packet[10] = 0x00;
+	}
+}
 
 static void __attribute__((unused)) SLT_send_bind_packet()
 {
@@ -144,47 +162,83 @@ uint16_t SLT_callback()
 {
 	switch (phase)
 	{
-		case SLT_BUILD:
-			SLT_build_packet();
-			phase++;
-			return 1000;
-		case SLT_DATA1:
-			SLT_send_data(packet, SLT_PAYLOADSIZE);
-			phase++;
-			return 1000;
-		case SLT_DATA2:
-			SLT_send_data(packet, SLT_PAYLOADSIZE);
-			phase++;
-			return 1000;
-		case SLT_DATA3:
-			SLT_send_data(packet, SLT_PAYLOADSIZE);
-			if (++packet_count >= 100)
-			{
-				packet_count = 0;
-				phase++;
-				return 1000;
-			}
-			else
-			{
-				NRF24L01_SetPower();	// Set tx_power
-				phase = SLT_BUILD;
-				return 19000;
-			}
 		case SLT_BIND:
+			bind_phase = 0;
 			SLT_send_bind_packet();
-			phase = SLT_BUILD;
+			if(sub_protocol == VISTA)
+			{
+				phase=SLT_DATA;
+				return 1000;
+			}
+			phase++;					// SLT_BUILD
 			return 18000;
+		case SLT_BUILD:
+			if(sub_protocol==SLT)
+			{ // Set radio channel - once per packet batch
+				NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
+				if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
+					hopping_frequency_no = 0;
+			}
+			SLT_build_packet();
+			packet_count=0;
+			phase++;					// SLT_DATA
+			return 1000;
+		case SLT_DATA:
+			if(sub_protocol==VISTA)
+			{	// Change radio channel every 9 packets
+				NRF24L01_WriteReg(NRF24L01_05_RF_CH, hopping_frequency[hopping_frequency_no]);
+				rf_ch_num++;
+				if(rf_ch_num>=9)
+				{
+					if (++hopping_frequency_no >= SLT_NFREQCHANNELS)
+						hopping_frequency_no = 0;
+					rf_ch_num=0;
+				}
+			}
+			SLT_send_data(packet, sub_protocol == VISTA?SLT_VISTA_PAYLOADSIZE:SLT_PAYLOADSIZE);
+			packet_count++;
+			if(packet_count >= (sub_protocol == VISTA?5:3))
+			{ // repeat the same data packet 3(SLT) or 5(VISTA) times
+				bind_phase++;
+				NRF24L01_SetPower();	// Set tx_power
+				phase = SLT_BUILD;		// Refresh data
+				if(sub_protocol == VISTA)
+					return 1000;
+				else
+					if(bind_phase>=100)
+					{ //SLT sends bind packet every 2.2s
+						phase=SLT_BIND;
+						return 1000;
 					}
 				return 19000;
 			}
+			if(sub_protocol == VISTA)
+			{ //VISTA sends bind packet every 1.5s
+				if(bind_phase>=150)
+					phase=SLT_BIND;
+				else
+					return 2000;
+			}
+			return 1000;
+	}
+	return 1000;
+}
 
 uint16_t initSLT()
 {
 	packet_count = 0;
 	packet_sent = 0;
+	rf_ch_num=0;
 	hopping_frequency_no = 0;
+	if(sub_protocol == VISTA)
+	{
+		memcpy(rx_tx_addr,"\x00\x00\x23\x00",SLT_TXID_SIZE);
+		memcpy(hopping_frequency,"\x03\x0A\x11\x18\x1F\x26\x13\x0F\x0B\x10\x08\x16\x1D\x24\x06",15);
+	}
+	else
 		SLT_set_freq();
 	SLT_init();
+	SLT_build_packet();
 	phase = SLT_BIND;
 	return 50000;
 }

Multiprotocol/Telemetry.ino

@@ -18,12 +18,21 @@
 #if defined TELEMETRY
 
 #if defined SPORT_TELEMETRY	
+	float    telemetry_voltage      = 0.f;
+	uint8_t  telemetry_rx_rssi      = 100;
+	#ifdef ENABLE_BAYANG_TELEMETRY
+		uint8_t  telemetry_tx_rssi      = 100;
+		uint8_t  telemetry_datamode     = 0;
+		uint8_t  telemetry_dataitem     = 0;
+		float    telemetry_data[3]      = {0};
+		uint16_t telemetry_uptime       = 0;
+		uint16_t telemetry_flighttime   = 0;
+		uint8_t  telemetry_flightmode   = 0;
+	#endif
 	#define SPORT_TIME 12000
 	#define FRSKY_SPORT_PACKET_SIZE   8
 	uint32_t last = 0;
 	uint8_t sport_counter=0;
-	uint8_t RxBt = 0;
-	uint8_t rssi;
 	uint8_t sport = 0;
 #endif
 #if defined HUB_TELEMETRY
@@ -319,19 +328,150 @@ void sportIdle()
 void sportSendFrame()
 {
 	uint8_t i;
+#ifdef ENABLE_BAYANG_TELEMETRY
+	uint32_t temp;
+	uint16_t temp16;
+	uint8_t* bytes;
+#endif
+
 	sport_counter = (sport_counter + 1) %36;
 	if(telemetry_lost)
 	{
 		sportIdle();
 		return;
 	}
-	if(sport_counter<6)
+	
+	uint8_t num_frames = 6;
+	#ifdef ENABLE_BAYANG_TELEMETRY
+		if (protocol == MODE_BAYANG) {		num_frames = 14;	}
+	#endif
+	if(sport_counter<num_frames)
 	{
 		frame[0] = 0x98;
 		frame[1] = 0x10;
 		for (i=5;i<8;i++)
 		frame[i]=0;
 	}
+	#ifdef ENABLE_BAYANG_TELEMETRY
+		if (protocol == MODE_BAYANG) {
+			switch (sport_counter)
+			{
+				case 0:
+					frame[2] = 0x05;
+					frame[3] = 0xf1;
+					frame[4] = 0x02 ;//dummy values if swr 20230f00
+					frame[5] = 0x23;
+					frame[6] = 0x0F;
+					break;
+				case 1: // RSSI
+					frame[2] = 0x01;
+					frame[3] = 0xf1;
+					frame[4] = telemetry_rx_rssi;
+					break;
+				case 2: //BATT
+					frame[2] = 0x04;
+					frame[3] = 0xf1;
+					if (protocol == MODE_BAYANG)
+						frame[4] = telemetry_voltage/4.f * 255.f/3.3f;//a1;
+					else
+						frame[4] = telemetry_voltage;
+					break;
+				case 3: //FCS VOLTAGE
+					frame[2] = 0x10;
+					frame[3] = 0x02;
+					temp =  (uint32_t)(telemetry_voltage * 100);
+					bytes = (uint8_t *) &temp;
+					frame[4] = bytes[0];
+					frame[5] = bytes[1];
+					frame[6] = bytes[2];
+					frame[7] = bytes[3];
+					break;
+				case 4: //RPM (use this as vTX frequency)
+					frame[2] = 0x00;
+					frame[3] = 0x05;
+					frame[4] = 0;
+					frame[5] = 0;
+					frame[6] = 0;
+					frame[7] = 0;
+					//frskySerial.sendData(0x0500,temp);
+					break;
+				case 5: // xjt accx
+					frame[2] = 0x24;
+					frame[3] = 0x00;
+					temp16 = (uint16_t)(telemetry_data[0]*1000);
+					bytes = (uint8_t *) &temp16;
+					frame[4] = bytes[0];
+					frame[5] = bytes[1];
+					break;
+				case 6: // xjt accy
+					frame[2] = 0x25;
+					frame[3] = 0x00;
+					temp16 = (uint16_t)(telemetry_data[1]*1000);
+					bytes = (uint8_t *) &temp16;
+					frame[4] = bytes[0];
+					frame[5] = bytes[1];
+					break;
+				case 7: // xjt accz
+					frame[2] = 0x26;
+					frame[3] = 0x00;
+					temp16 = (uint16_t)(telemetry_data[2]*1000);
+					bytes = (uint8_t *) &temp16;
+					frame[4] = bytes[0];
+					frame[5] = bytes[1];
+					break;
+				case 8: // xjt gps hour minute
+					frame[2] = 0x17;
+					frame[3] = 0x00;
+					temp16 = telemetry_dataitem;            // hours
+					temp16 |= (telemetry_uptime / 60) << 8; // minutes
+					bytes = (uint8_t *) &temp16;
+					frame[4] = bytes[0];
+					frame[5] = bytes[1];
+					break;
+				case 9: // xjt gps seconds
+					frame[2] = 0x18;
+					frame[3] = 0x00;
+					frame[4] = telemetry_uptime % 60;
+					break;
+				case 10: // xjt gps day/month
+					frame[2] = 0x15;
+					frame[3] = 0x00;
+					frame[4] = telemetry_flighttime / 60;
+					frame[5] = telemetry_flighttime % 60;
+					break;
+				case 11: // xjt gps year
+					frame[2] = 0x16;
+					frame[3] = 0x00;
+					frame[4] = telemetry_flightmode;
+					break;
+				case 12: // xjt t1
+					frame[2] = 0x02;
+					frame[3] = 0x00;
+					frame[4] = 0;
+					break;								
+				case 13: // xjt t2
+					frame[2] = 0x05;
+					frame[3] = 0x00;
+					frame[4] = 0;
+					break;
+				default:
+					if(sport)
+					{	
+						for (i=0;i<FRSKY_SPORT_PACKET_SIZE;i++)
+						frame[i]=pktx1[i];
+						sport=0;
+						break;
+					}
+					else
+					{
+						sportIdle();
+						return;
+					}
+			}
+		}
+		else
+	#endif
+	{
 		switch (sport_counter)
 		{
 			case 0:
@@ -344,7 +484,7 @@ void sportSendFrame()
 			case 2: // RSSI
 				frame[2] = 0x01;
 				frame[3] = 0xf1;
-			frame[4] = rssi;
+				frame[4] = telemetry_rx_rssi;
 				break;
 			case 4: //BATT
 				frame[2] = 0x04;
@@ -365,6 +505,7 @@ void sportSendFrame()
 					return;
 				}						
 		}
+	}
 	sportSend(frame);
 }	
 
@@ -460,14 +601,18 @@ void TelemetryUpdate()
 	#endif
 	 
 	#if defined SPORT_TELEMETRY
-		if (protocol==MODE_FRSKYX)
+		if (protocol==MODE_FRSKYX
+			#ifdef ENABLE_BAYANG_TELEMETRY
+				|| protocol == MODE_BAYANG
+			#endif
+		)
 		{	// FrSkyX
 			if(telemetry_link)
 			{		
 				if(pktt[4] & 0x80)
-					rssi=pktt[4] & 0x7F ;
+					telemetry_rx_rssi=pktt[4] & 0x7F ;
 				else 
-					RxBt = (pktt[4]<<1) + 1 ;
+					telemetry_voltage = (pktt[4]<<1) + 1 ;
 				if(pktt[6]<=6)
 					for (uint8_t i=0; i < pktt[6]; i++)
 						proces_sport_data(pktt[7+i]);

Multiprotocol/_Config.h

@@ -128,6 +128,7 @@
 	#define SPORT_TELEMETRY	
 	#define HUB_TELEMETRY
 	#define AFHDS2A_TELEMETRY
+//	#define ENABLE_BAYANG_TELEMETRY		// uncomment to enable bayang telemtry for H101 acro firmware - https://github.com/bikemike/H101-acro/tree/telemetry
 
 /****************************/
 /*** SERIAL MODE SETTINGS ***/
@@ -233,11 +234,16 @@ const PPM_Parameters PPM_prot[15]=	{
 		CX10_GREEN
 		CX10_BLUE
 		DM007
-		Q282
 		JC3015_1
 		JC3015_2
 		MK33041
+	MODE_Q2X2
+		Q222
 		Q242
+		Q282
+	MODE_SLT
+		SLT
+		VISTA
 	MODE_CG023
 		CG023
 		YD829
@@ -281,7 +287,10 @@ const PPM_Parameters PPM_prot[15]=	{
 		FORMAT_X5C1
 		FQ777-951
 	MODE_AFHDS2A
-		NONE
+		PWM_IBUS
+		PPM_IBUS
+		PWM_SBUS
+		PPM_SBUS
 */
 
 // RX_Num is used for model match. Using RX_Num	values different for each receiver will prevent starting a model with the false config loaded...

Multiprotocol/multiprotocol.h

@@ -64,6 +64,7 @@ enum PROTOCOLS
 	MODE_HONTAI		= 26,	// =>NRF24L01
 	MODE_OPENLRS	= 27,	// =>OpenLRS hardware
 	MODE_AFHDS2A	= 28,	// =>A7105
+	MODE_Q2X2		= 29,	// =>NRF24L01, extension of CX-10 protocol
 };
 enum Flysky
 {
@@ -110,16 +111,25 @@ enum SYMAX
 	SYMAX=0,
 	SYMAX5C=1
 };
+enum SLT
+{
+	SLT		= 0,
+	VISTA	= 1
+};
 enum CX10
 {
     CX10_GREEN = 0,
     CX10_BLUE=1,		// also compatible with CX10-A, CX12
     DM007=2,
-	Q282=3,
 	JC3015_1=4,
 	JC3015_2=5,
 	MK33041=6,
-	Q242=7
+};
+enum Q2X2
+{
+	Q222		= 8,
+	Q242		= 9,
+	Q282		= 10,
 };
 enum CG023
 {
@@ -156,6 +166,11 @@ enum HONTAI
 	FORMAT_FQ777	= 3
 };
 
+enum BAYANG
+{
+	BAYANG = 0,
+	BAYANG_TELEM = 1
+};
 enum HUBSAN
 {
 	H107	= 0,
@@ -448,6 +463,7 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
 					HONTAI		26
 					OpenLRS		27
 					AFHDS2A		28
+					Q2X2		29
    BindBit=>		0x80	1=Bind/0=No
    AutoBindBit=>	0x40	1=Yes /0=No
    RangeCheck=>		0x20	1=Yes /0=No
@@ -484,11 +500,17 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
 			CX10_GREEN	0
 			CX10_BLUE	1	// also compatible with CX10-A, CX12
 			DM007		2
-			Q282		3
+			---			3
 			JC3015_1	4
 			JC3015_2	5
 			MK33041		6
-			Q242		7
+		sub_protocol==Q2X2
+			Q222		0
+			Q242		1
+			Q282		2
+		sub_protocol==SLT
+			SLT			0
+			VISTA		1
 		sub_protocol==CG023
 			CG023		0
 			YD829		1
@@ -515,6 +537,9 @@ Serial: 100000 Baud 8e2      _ xxxx xxxx p --
 			FORMAT_JJRCX1	1
 			FORMAT_X5C1		2
 			FQ777-521		3
+		sub_protocol==BAYANG
+			BAYANG			0
+			BAYANG_TELEM	1
         sub_protocol==AFHDS2A
 			PWM_IBUS	0
 			PPM_IBUS	1