Ins rc orig

docs/INS RC ORIG.md

@@ -0,0 +1,66 @@
+# INS RC ORIG
+
+`INS RC ORIG` adds configurable pre-override RC channel copies.
+
+The goal is to preserve original RX values even when `MSP RC Override` is active. The firmware stores a snapshot of the processed RX channels before MSP override is applied, then copies selected original channels into selected destination channels.
+
+## How it works
+
+- Source channels are read from the normal RX path before `MSP RC Override`.
+- `MSP RC Override` is applied as usual to the configured override mask.
+- After that, the configured copy rules write the original pre-override values into the destination channels.
+- Destination channels therefore always contain the original RX value, not the overridden MSP value.
+
+This is intended for routing original stick data into spare AUX channels such as `18`, `19`, `20`, `21` so an external controller can read both:
+
+- overridden flight channels `1..4`
+- original RX channels mirrored into spare channels
+
+## CLI settings
+
+Four copy rules are available:
+
+- `rc_orig_src_1` / `rc_orig_dst_1`
+- `rc_orig_src_2` / `rc_orig_dst_2`
+- `rc_orig_src_3` / `rc_orig_dst_3`
+- `rc_orig_src_4` / `rc_orig_dst_4`
+
+Rules use 1-based RC channel numbers.
+
+- Set either side to `0` to disable that rule.
+- Valid channel range is `1..34`.
+
+## Example
+
+Mirror original roll and pitch into channels `18` and `19`:
+
+```text
+set rc_orig_src_1 = 1
+set rc_orig_dst_1 = 18
+set rc_orig_src_2 = 2
+set rc_orig_dst_2 = 19
+save
+```
+
+With `MSP RC Override` active:
+
+- channel `1` can still be overridden by MSP
+- channel `2` can still be overridden by MSP
+- channel `18` contains the original value of channel `1`
+- channel `19` contains the original value of channel `2`
+
+## Notes
+
+- Destination channels should normally be unused spare channels.
+- If a destination channel is also used for flight control, mode switching, or MSP override, the copy rule will overwrite that destination with the original RX value.
+- If `src == dst`, that channel is effectively restored to its original pre-override value after MSP override.
+- If the source channel is outside the active RX channel count, that rule is ignored.
+- `MSP_RC` output is extended up to the highest configured destination channel so channels like `18` and `19` are visible to external consumers.
+
+## Typical workflow
+
+1. Build firmware with `USE_MSP_RC_OVERRIDE`.
+2. Configure `MSP RC Override` mode and `msp_override_channels` as usual.
+3. Choose spare destination channels for the mirrored originals.
+4. Configure the `rc_orig_src_*` and `rc_orig_dst_*` rules.
+5. Read the mirrored original values from the destination channels over MSP.

src/main/CMakeLists.txt

@@ -213,6 +213,8 @@ main_sources(COMMON_SRC
     drivers/osd.h
     drivers/persistent.c
     drivers/persistent.h
+    drivers/dshot_bidir.c
+    drivers/dshot_bidir.h
     drivers/pitotmeter/pitotmeter_adc.c
     drivers/pitotmeter/pitotmeter_adc.h
     drivers/pitotmeter/pitotmeter_ms4525.c
@@ -462,6 +464,8 @@ main_sources(COMMON_SRC
     sensors/esc_sensor.h
     sensors/irlock.c
     sensors/irlock.h
+    sensors/rpm_source.c
+    sensors/rpm_source.h
     sensors/sensors.c
     sensors/temperature.c
     sensors/temperature.h

src/main/blackbox/blackbox.c

@@ -81,6 +81,7 @@
 #include "sensors/rangefinder.h"
 #include "sensors/sensors.h"
 #include "sensors/esc_sensor.h"
+#include "sensors/rpm_source.h"
 #include "flight/wind_estimator.h"
 #include "sensors/temperature.h"
 
@@ -1428,9 +1429,14 @@ static void loadSlowState(blackboxSlowState_t *slow)
 #endif
 
 #ifdef USE_ESC_SENSOR
-    escSensorData_t * escSensor = escSensorGetData();
-    slow->escRPM = escSensor->rpm;
-    slow->escTemperature = escSensor->temperature;
+    uint32_t escRpm = 0;
+    slow->escRPM = rpmSourceGetAverageRpm(&escRpm) ? escRpm : 0;
+    slow->escTemperature = TEMPERATURE_INVALID_VALUE / 10;
+
+    escSensorData_t *escSensor = escSensorGetData();
+    if (escSensor && escSensor->dataAge <= ESC_DATA_MAX_AGE) {
+        slow->escTemperature = escSensor->temperature;
+    }
 #endif
 }
 

src/main/build/debug.h

@@ -79,6 +79,7 @@ typedef enum {
     DEBUG_GPS,
     DEBUG_LULU,
     DEBUG_SBUS2,
+    DEBUG_DSHOT_BIDIR,
     DEBUG_COUNT // also update debugModeNames in cli.c
 } debugType_e;