Radiomaster ERS CV01 and CU01 external sensor support

[wimalopaan]

Please support the new radiomaster ERS sensor family.

The ERS sensor family comprise the cell sensor CV01, the current sensor CU01, the rpm sensor RB01, etc.

These sensors send out CRSF packets.

[Target0815]

I would like to support this request.

I use INAV on a NEXUS-X FC myself, and it would be good if the ERS-GPS and the current sensor ERS-CU01 could be used directly. The appropriate cables are already included with the sensors. In addition, the sensors can be cascaded so that only one port on the NEXUS-X is occupied.

[Silberkorn]

I second that.

As the Radiomaster Nexus X and XR don't have inbuilt ESC, they have no telemetry Data for that. It would be super helpful if the new Radiomaster CRSF sensors are supported :-)

[sensei-hacker]

These sensors send out CRSF packets.

It's my understanding that they send out custom packets wrapped in MSP, wrapped in CRSF.
Not standard CRSF.

I know you have done some development with CRSF.
Since you say you have all of the RadioMaster sensors, can you please post the first 14 bytes or so from the GPS sensor and battery sensor so I can make sure we have them right?

[wimalopaan]

The sensors use valid CRSF messages as specified by TBS and CRSF-wg. No MSP wrapping (no bloat).
They only use MSP-wrapping for configuration

Although there is no need to provide packet traces because the packets a pure CRSF, I can provide you with LA traces.
It's up to you.

[sensei-hacker]

The sensors use valid CRSF messages as specified by TBS and CRSF-wg. No MSP wrapping (no bloat). They only use MSP-wrapping for configuration

Although there is no need to provide packet traces because the packets a pure CRSF, I can provide you with LA traces. It's up to you.

It would be great to confirm with actual, tested data because I'm being told two different things. A reliable source tells me it's a custom format packed inside of MSP_WRITE. You say otherwise. I don't have the sensors physically in my possession to test or trace. Maybe it's just the configuration wrapped in MSP_WRITE and that's where the confusion is. There's one way to actually find out for sure - test it the actual sensor and SEE what it does!

[wimalopaan]

Sensor config-read/write is MSP-over-CRSF and this is specific to RM. Well, you don't have to support that. But clearly it would be better to let the MSP-over-CRSF messages go thru in both directions. Although this is at this time specific to RM there may be in the future other manufactors that need that too. But maybe there may be also manufacturers that may need the full CRSF-config protocol .... who knows.

The sensors themself send out only pure CRSF sensor data. This would be the least to support any CRSF sensor.

[sensei-hacker]

Fyi I spoke to a Radiomaster engineer today and got some confirmation.