AP_RCTelemetry: add setters for vtx configuration

deal with CRSF pitmode and options correctly

libraries/AP_RCTelemetry/AP_CRSF_Telem.cpp

@@ -178,9 +178,9 @@ void AP_CRSF_Telem::process_vtx_frame(VTXFrame* vtx) {
             break;
     }
     if (vtx->is_in_pitmode) {
-        apvtx.set_options(apvtx.get_options() | uint16_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
+        apvtx.set_options(apvtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
     } else {
-        apvtx.set_options(apvtx.get_options() & ~uint16_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
+        apvtx.set_options(apvtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
     }
     // make sure the configured values now reflect reality
     apvtx.set_defaults();
@@ -206,9 +206,9 @@ void AP_CRSF_Telem::process_vtx_telem_frame(VTXTelemetryFrame* vtx) {
     apvtx.set_power_dbm(vtx->power);
 
     if (vtx->pitmode) {
-        apvtx.set_options(apvtx.get_options() | uint16_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
+        apvtx.set_options(apvtx.get_options() | uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
     } else {
-        apvtx.set_options(apvtx.get_options() & ~uint16_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
+        apvtx.set_options(apvtx.get_options() & ~uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE));
     }
     // make sure the configured values now reflect reality
     apvtx.set_defaults();
@@ -230,18 +230,19 @@ void AP_CRSF_Telem::update_params()
     _vtx_options_change_pending = vtx.update_options() || _vtx_options_change_pending;
 
     if (_vtx_freq_change_pending || _vtx_power_change_pending || _vtx_options_change_pending) {
-        debug("update_params(): freq %d, chan: %d->%d, band: %d->%d, pwr: %d->%d",
+        debug("update_params(): freq %d->%d, chan: %d->%d, band: %d->%d, pwr: %d->%d, opts: %d->%d",
             vtx.get_frequency_mhz(),
+            AP_VideoTX::get_frequency_mhz(vtx.get_configured_band(), vtx.get_configured_channel()),
             vtx.get_channel(), vtx.get_configured_channel(),
             vtx.get_band(), vtx.get_configured_band(),
-            vtx.get_power_mw(), vtx.get_configured_power_mw());
+            vtx.get_power_mw(), vtx.get_configured_power_mw(),
+            vtx.get_options(), vtx.get_configured_options());
 
         _telem_type = AP_RCProtocol_CRSF::CRSF_FRAMETYPE_COMMAND;
         _telem.ext.command.destination = AP_RCProtocol_CRSF::CRSF_ADDRESS_VTX;
         _telem.ext.command.origin = AP_RCProtocol_CRSF::CRSF_ADDRESS_FLIGHT_CONTROLLER;
         _telem.ext.command.command_id = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX;
 
-
         // make the desired frequency match the desired band and channel
         if (_vtx_freq_change_pending) {
             vtx.set_frequency_mhz(AP_VideoTX::get_frequency_mhz(vtx.get_configured_band(), vtx.get_configured_channel()));
@@ -288,7 +289,11 @@ void AP_CRSF_Telem::update_params()
             _vtx_dbm_update = true;
         } else if (_vtx_options_change_pending) {
             _telem.ext.command.payload[0] = AP_RCProtocol_CRSF::CRSF_COMMAND_VTX_PITMODE;
-            _telem.ext.command.payload[1] = vtx.get_configured_options() & uint16_t(AP_VideoTX::VideoOptions::VTX_PITMODE);
+            if (vtx.get_configured_options() & uint8_t(AP_VideoTX::VideoOptions::VTX_PITMODE)) {
+                _telem.ext.command.payload[1] = 1;
+            } else {
+                _telem.ext.command.payload[1] = 0;
+            }
         }
         _telem_pending = true;
         // calculate command crc

libraries/AP_RCTelemetry/AP_CRSF_Telem.h

@@ -87,7 +87,7 @@ public:
         uint8_t origin; // address
         uint8_t power;              // power in dBm
         uint16_t frequency;         // frequency in Mhz
-        bool pitmode;               // disable 0, enable 1
+        uint8_t pitmode;            // disable 0, enable 1
     } PACKED;
 
     struct LinkStatisticsFrame {

libraries/AP_RCTelemetry/AP_VideoTX.cpp

@@ -127,7 +127,7 @@ bool AP_VideoTX::get_band_and_channel(uint16_t freq, VideoBand& band, uint8_t& c
 
 // set the current power
 void AP_VideoTX::set_configured_power_mw(uint16_t power) {
-    _power_mw.set_and_save(power);
+    _power_mw.set_and_save_ifchanged(power);
 }
 
 // set the power in dbm, rounding appropriately

libraries/AP_RCTelemetry/AP_VideoTX.h

@@ -44,12 +44,12 @@ public:
     };
 
     enum VideoBand {
-        VTX_BAND_A,
-        VTX_BAND_B,
-        VTX_BAND_E,
-        VTX_BAND_FATSHARK,
-        VTX_BAND_RACEBAND,
-        VTX_BAND_LOW_RACEBAND,
+        BAND_A,
+        BAND_B,
+        BAND_E,
+        FATSHARK,
+        RACEBAND,
+        LOW_RACEBAND,
         MAX_BANDS
     };
 
@@ -70,16 +70,19 @@ public:
     bool update_power() const { return _defaults_set && _power_mw != _current_power; }
     // get / set the frequency band
     void set_band(uint8_t band) { _current_band = band; }
+    void set_configured_band(uint8_t band) { _band.set_and_save_ifchanged(band); }
     uint8_t get_configured_band() const { return _band; }
     uint8_t get_band() const { return _current_band; }
     bool update_band() const { return _defaults_set && _band != _current_band; }
     // get / set the frequency channel
     void set_channel(uint8_t channel) { _current_channel = channel; }
+    void set_configured_channel(uint8_t channel) { _channel.set_and_save_ifchanged(channel); }
     uint8_t get_configured_channel() const { return _channel; }
     uint8_t get_channel() const { return _current_channel; }
     bool update_channel() const { return _defaults_set && _channel != _current_channel; }
     // get / set vtx option
     void set_options(uint8_t options) { _current_options = options; }
+    void set_configured_options(uint8_t options) { _options.set_and_save_ifchanged(options); }
     uint8_t get_configured_options() const { return _options; }
     uint8_t get_options() const { return _current_options; }
     bool update_options() const { return _defaults_set && _options != _current_options; }