From 63c090e7ed246a8b3437100114f5229edef7134d Mon Sep 17 00:00:00 2001
From: Marcelo Bezerra <23555060+mmosca@users.noreply.github.com>
Date: Thu, 1 Aug 2024 01:05:43 +0200
Subject: [PATCH] commence breakage

---
 src/main/drivers/pwm_mapping.h |  2 +-
 src/main/flight/servos.h       | 14 +++++++++++++-
 src/main/rx/sbus.c             |  8 ++++----
 src/main/rx/sbus_channels.c    |  8 +++++---
 4 files changed, 23 insertions(+), 9 deletions(-)

diff --git a/src/main/drivers/pwm_mapping.h b/src/main/drivers/pwm_mapping.h
index 08123130f..161735a44 100644
--- a/src/main/drivers/pwm_mapping.h
+++ b/src/main/drivers/pwm_mapping.h
@@ -28,7 +28,7 @@
 #define MAX_MOTORS  12
 #endif
 
-#define MAX_SERVOS  18
+#define MAX_SERVOS  36
 
 #define PWM_TIMER_HZ    1000000
 
diff --git a/src/main/flight/servos.h b/src/main/flight/servos.h
index 4f6e57779..5a161d6e4 100644
--- a/src/main/flight/servos.h
+++ b/src/main/flight/servos.h
@@ -20,7 +20,7 @@
 #include "config/parameter_group.h"
 #include "programming/logic_condition.h"
 
-#define MAX_SUPPORTED_SERVOS 18
+#define MAX_SUPPORTED_SERVOS 36
 
 // These must be consecutive
 typedef enum {
@@ -75,6 +75,18 @@ typedef enum {
     INPUT_RC_CH22                   = 47,
     INPUT_RC_CH23                   = 48,
     INPUT_RC_CH24                   = 49,
+    INPUT_RC_CH25                   = 50,
+    INPUT_RC_CH26                   = 51,
+    INPUT_RC_CH27                   = 52,
+    INPUT_RC_CH28                   = 53,
+    INPUT_RC_CH29                   = 54,
+    INPUT_RC_CH30                   = 55,
+    INPUT_RC_CH31                   = 56,
+    INPUT_RC_CH32                   = 57,
+    INPUT_RC_CH33                   = 58,
+    INPUT_RC_CH34                   = 59,
+    INPUT_RC_CH35                   = 60,
+    INPUT_RC_CH36                   = 61,
 #endif
     INPUT_SOURCE_COUNT
 } inputSource_e;
diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c
index 9b24361a0..27fa927b9 100644
--- a/src/main/rx/sbus.c
+++ b/src/main/rx/sbus.c
@@ -88,11 +88,12 @@ static void sbusDataReceive(uint16_t c, void *data)
 
     switch (sbusFrameData->state) {
         case STATE_SBUS_SYNC:
-            if (c == SBUS_FRAME_BEGIN_BYTE) {
+            // Ignore non 26 channel packets
+            if (c == SBUS_FRAME_BEGIN_BYTE && !sbusFrameData->is26channels) {
                 sbusFrameData->position = 0;
                 sbusFrameData->buffer[sbusFrameData->position++] = (uint8_t)c;
                 sbusFrameData->state = STATE_SBUS_PAYLOAD;
-            } else if (c == SBUS26_FRAME0_BEGIN_BYTE) {
+            } else if (c == SBUS26_FRAME0_BEGIN_BYTE && false) {
                 sbusFrameData->position = 0;
                 sbusFrameData->buffer[sbusFrameData->position++] = (uint8_t)c;
                 sbusFrameData->state = STATE_SBUS26_PAYLOAD_LOW;
@@ -141,7 +142,6 @@ static void sbusDataReceive(uint16_t c, void *data)
 
                     memcpy((void *)&sbusFrameData->frame, (void *)&sbusFrameData->buffer[0], SBUS_FRAME_SIZE);
                     sbusFrameData->frameDone = true;
-                    sbusFrameData->is26channels = false;
                 }
             }
             break;
@@ -221,7 +221,7 @@ static uint8_t sbusFrameStatus(rxRuntimeConfig_t *rxRuntimeConfig)
 static bool sbusInitEx(const rxConfig_t *rxConfig, rxRuntimeConfig_t *rxRuntimeConfig, uint32_t sbusBaudRate)
 {
     static uint16_t sbusChannelData[SBUS_MAX_CHANNEL];
-    static sbusFrameData_t sbusFrameData;
+    static sbusFrameData_t sbusFrameData = { .is26channels = false};
 
     rxRuntimeConfig->channelData = sbusChannelData;
     rxRuntimeConfig->frameData = &sbusFrameData;
diff --git a/src/main/rx/sbus_channels.c b/src/main/rx/sbus_channels.c
index 01c9aab5b..60f107379 100644
--- a/src/main/rx/sbus_channels.c
+++ b/src/main/rx/sbus_channels.c
@@ -68,18 +68,20 @@ uint8_t sbus26ChannelsDecode(rxRuntimeConfig_t *rxRuntimeConfig, const sbusChann
         sbusChannelData[33 + offset] = SBUS_DIGITAL_CHANNEL_MIN;
     }
 
+    uint8_t ret = 0;
+
     if (channels->flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
         // internal failsafe enabled and rx failsafe flag set
         // RX *should* still be sending valid channel data, so use it.
-        return RX_FRAME_COMPLETE | RX_FRAME_FAILSAFE;
+        ret = RX_FRAME_FAILSAFE;
     }
 
     if (channels->flags & SBUS_FLAG_SIGNAL_LOSS) {
         // The received data is a repeat of the last valid data so can be considered complete.
-        return RX_FRAME_COMPLETE | RX_FRAME_DROPPED;
+        ret = RX_FRAME_DROPPED;
     }
 
-    return RX_FRAME_COMPLETE;
+    return ret | (highChannels ? RX_FRAME_COMPLETE : RX_FRAME_PENDING);
 }
 
 uint8_t sbusChannelsDecode(rxRuntimeConfig_t *rxRuntimeConfig, const sbusChannels_t *channels)
-- 
2.11.4.GIT