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Augmenting CRSF telemetry parser for BATT frames with trailing sensor-id #7571

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Augmenting CRSF telemetry parser for BATT frames with trailing sensor-id #7571

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dafdcaf
first try of multi-instance BATT crsf sensor
wimalopaan Jul 18, 2026
c50459f
fixed coderabbit comments
wimalopaan Jul 18, 2026
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20 changes: 14 additions & 6 deletions radio/src/telemetry/crossfire.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -120,13 +120,13 @@ const CrossfireSensor & getCrossfireSensor(uint8_t id, uint8_t subId)
return crossfireSensors[UNKNOWN_INDEX];
}

void processCrossfireTelemetryValue(uint8_t index, int32_t value)
void processCrossfireTelemetryValue(const uint8_t index, const int32_t value, const uint8_t sensorId = 0)
{
if (!TELEMETRY_STREAMING())
return;

const CrossfireSensor & sensor = crossfireSensors[index];
setTelemetryValue(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id, 0, sensor.subId,
setTelemetryValue(PROTOCOL_TELEMETRY_CROSSFIRE, sensor.id + (sensorId << 8) , 0, sensor.subId,
value, sensor.unit, sensor.precision);
}

Expand Down Expand Up @@ -363,14 +363,22 @@ void processCrossfireTelemetryFrame(uint8_t module, uint8_t* rxBuffer,
break;

case BATTERY_ID:
{
uint8_t sensorID = 0;
if (crsfPayloadLen > 10) {
if (getCrossfireTelemetryValue<1>(11, value, rxBuffer)) {
sensorID = value;
}
}
if (getCrossfireTelemetryValue<2>(3, value, rxBuffer))
processCrossfireTelemetryValue(BATT_VOLTAGE_INDEX, value);
processCrossfireTelemetryValue(BATT_VOLTAGE_INDEX, value, sensorID);
if (getCrossfireTelemetryValue<2>(5, value, rxBuffer))
processCrossfireTelemetryValue(BATT_CURRENT_INDEX, value);
processCrossfireTelemetryValue(BATT_CURRENT_INDEX, value, sensorID);
if (getCrossfireTelemetryValue<3>(7, value, rxBuffer))
processCrossfireTelemetryValue(BATT_CAPACITY_INDEX, value);
processCrossfireTelemetryValue(BATT_CAPACITY_INDEX, value, sensorID);
if (getCrossfireTelemetryValue<1>(10, value, rxBuffer))
processCrossfireTelemetryValue(BATT_REMAINING_INDEX, value);
processCrossfireTelemetryValue(BATT_REMAINING_INDEX, value, sensorID);
}
break;

case ATTITUDE_ID:
Expand Down