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fix(sport): add Betaflight Pitch/Roll sensor unit and precision (#7116) #7612

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fix(sport): add Betaflight Pitch/Roll sensor unit and precision (#7116) #7612

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515d077
fix(sport): add Betaflight Pitch/Roll sensor unit and precision (#7116)
bultodepapas Aug 3, 2026
3c715b5
Potential fix for pull request finding
bultodepapas Aug 3, 2026
3108302
test(sport): write S.Port packet bytes explicitly in Betaflight test
bultodepapas Aug 3, 2026
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3 changes: 3 additions & 0 deletions radio/src/telemetry/frsky_sport.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -104,6 +104,9 @@ const FrSkySportSensor sportSensors[] = {
FS( SERVO_FIRST_ID, SERVO_LAST_ID, 1, STR_SENSOR_SERVO_VOLTAGE, UNIT_VOLTS, 1 ),
FS( SERVO_FIRST_ID, SERVO_LAST_ID, 2, STR_SENSOR_SERVO_TEMPERATURE, UNIT_CELSIUS, 0 ),
FS( SERVO_FIRST_ID, SERVO_LAST_ID, 3, STR_SENSOR_SERVO_STATUS, UNIT_TEXT, 0 ),
// Betaflight S.Port telemetry - Pitch and Roll are sent as degree * 10
FS( 0x5230, 0x5230, 0, STR_SENSOR_PITCH, UNIT_DEGREE, 1 ),
FS( 0x5240, 0x5240, 0, STR_SENSOR_ROLL, UNIT_DEGREE, 1 ),
FS( 0, 0, 0, nullptr, UNIT_RAW, 0 ) // sentinel
};
// clang-format on
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44 changes: 44 additions & 0 deletions radio/src/tests/frsky.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,8 @@

#include "gtests.h"

#include <cstring>

void frskyDProcessPacket(const uint8_t *packet);
bool checkSportPacket(const uint8_t *packet);
bool checkSportPacket(const uint8_t *packet);
Expand Down Expand Up @@ -514,3 +516,45 @@ TEST(FrSkySPORT, frskyCurrent)
EXPECT_EQ(telemetryItems[0].valueMax, 505);
}

TEST(FrSkySPORT, BetaflightAngleSensors)
{
uint8_t packet[FRSKY_SPORT_PACKET_SIZE];

MODEL_RESET();
TELEMETRY_RESET();
telemetryStreaming = TELEMETRY_TIMEOUT10ms;
telemetryData.telemetryValid = 0x07;
allowNewSensors = true;

// Betaflight S.Port telemetry sends Pitch (0x5230) and Roll (0x5240)
// as degree * 10, which must be discovered with UNIT_DEGREE and prec 1.
// S.Port dataId and value are little-endian on the wire.
packet[0] = 0x52; // physical ID (DIY)
packet[1] = 0x10; // DATA_FRAME
packet[2] = 0x30; // dataId 0x5230 (Pitch), low byte
packet[3] = 0x52; // dataId 0x5230, high byte
int32_t value = 532; // 53.2 deg
memcpy(packet + 4, &value, sizeof(value));
setSportPacketCrc(packet);
sportProcessTelemetryPacket(0, packet, sizeof(packet));

ASSERT_EQ(g_model.telemetrySensors[0].id, 0x5230);
EXPECT_EQ(g_model.telemetrySensors[0].unit, UNIT_DEGREE);
EXPECT_EQ(g_model.telemetrySensors[0].prec, 1);
EXPECT_EQ(telemetryItems[0].value, 532);

packet[0] = 0x52;
packet[1] = 0x10;
packet[2] = 0x40; // dataId 0x5240 (Roll), low byte
packet[3] = 0x52; // dataId 0x5240, high byte
value = -124; // -12.4 deg
memcpy(packet + 4, &value, sizeof(value));
setSportPacketCrc(packet);
sportProcessTelemetryPacket(0, packet, sizeof(packet));

ASSERT_EQ(g_model.telemetrySensors[1].id, 0x5240);
EXPECT_EQ(g_model.telemetrySensors[1].unit, UNIT_DEGREE);
EXPECT_EQ(g_model.telemetrySensors[1].prec, 1);
EXPECT_EQ(telemetryItems[1].value, -124);
}