fix missing sensors

Author: error414

src/main/telemetry/crsf.c

@@ -301,6 +301,20 @@ void crsfSensorEncodeEscRpm(telemetrySensor_t *sensor, sbuf_t *buf)
         crsfSerialize24BE(buf, escState->rpm & 0xFFFFFF);
     }
 }
+
+void crsfSensorEncodeEscTemp(telemetrySensor_t *sensor, sbuf_t *buf)
+{
+    UNUSED(sensor);
+    uint8_t motorCount = MAX(getMotorCount(), 1); //must send at least one motor, to avoid CRSF frame shifting
+    motorCount = MIN(getMotorCount(), CRSF_PAYLOAD_SIZE_MAX / 3); // 3 bytes per RPM value
+    motorCount = MIN(motorCount, MAX_SUPPORTED_MOTORS); // ensure we don't exceed available ESC telemetry data
+
+    for (uint8_t i = 0; i < motorCount; i++) {
+        const escSensorData_t *escState = getEscTelemetry(i);
+        crsfSerialize16BE(buf, escState->temperature & 0xFFFF);
+    }
+}
+
 void crsfSensorEncodeEscTemperature(telemetrySensor_t *sensor, sbuf_t *buf)
 {
     UNUSED(sensor);
@@ -436,7 +450,7 @@ static telemetrySensor_t crsfCustomTelemetrySensors[] =
     TLM_SENSOR(ESC3_RPM,                0x1134,   200,  3000,    0,     U16),
     TLM_SENSOR(ESC4_RPM,                0x1135,   200,  3000,    0,     U16),
 
-    TLM_SENSOR(ESC_TEMPERATURE,         0x1136,   200,  3000,    0,     U8),
+    TLM_SENSOR(ESC_TEMPERATURE,         0x1136,   200,  3000,    0,     EscTemp),
     TLM_SENSOR(ESC1_TEMPERATURE,        0x1137,   200,  3000,    0,     U8),
     TLM_SENSOR(ESC2_TEMPERATURE,        0x1138,   200,  3000,    0,     U8),
     TLM_SENSOR(ESC3_TEMPERATURE,        0x1139,   200,  3000,    0,     U8),

src/main/telemetry/sensors.c

@@ -91,6 +91,8 @@ int telemetrySensorValue(sensor_id_e id)
             return DECIDEGREES_TO_DEGREES(attitude.values.yaw);
         case TELEM_ALTITUDE:
             return (int)(getEstimatedActualPosition(Z)); // cm
+        case TELEM_VARIOMETER:
+            return (int)getEstimatedActualVelocity(Z);
         case TELEM_ATTITUDE:
             return millis();
         case TELEM_ATTITUDE_PITCH:
@@ -110,12 +112,14 @@ int telemetrySensorValue(sensor_id_e id)
         /////////////////////////////////////////
         ////// GPS     //////////////////////////
 #ifdef USE_GPS
+        case TELEM_GPS:
+            return (int)millis();
         case TELEM_GPS_SATS:
             return gpsSol.numSat;
         case TELEM_GPS_HDOP:
             return gpsSol.hdop;
         case TELEM_GPS_COORD:
-            return getTupleHash(gpsSol.llh.lat, gpsSol.llh.lon);
+            return (int)getTupleHash(gpsSol.llh.lat, gpsSol.llh.lon);
         case TELEM_GPS_ALTITUDE:
             return gpsSol.llh.alt;
         case TELEM_GPS_HEADING:
@@ -127,14 +131,14 @@ int telemetrySensorValue(sensor_id_e id)
         case TELEM_GPS_HOME_DIRECTION:
             return GPS_directionToHome;
         case TELEM_GPS_AZIMUTH:
-            return ((GPS_directionToHome < 0 ? GPS_directionToHome + 360 : GPS_directionToHome) + 180) % 360;;
+            return ((GPS_directionToHome < 0 ? GPS_directionToHome + 360 : GPS_directionToHome) + 180) % 360;
 #endif
 
 #ifdef USE_ESC_SENSOR
         /////////////////////////////////////////
         ////// ESC     //////////////////////////
         case TELEM_ESC_RPM:
-            return millis();
+            return (int)millis();
         case TELEM_ESC1_RPM:
             return getMotorCount() > 0 ? (int)getEscTelemetry(0)->rpm : 0;
         case TELEM_ESC2_RPM:
@@ -146,7 +150,7 @@ int telemetrySensorValue(sensor_id_e id)
 
 
         case TELEM_ESC_TEMPERATURE:
-            return millis();
+            return (int)millis();
         case TELEM_ESC1_TEMPERATURE:
             return getMotorCount() > 0 ? (int)(getEscTelemetry(0)->temperature * 10) : 0;
         case TELEM_ESC2_TEMPERATURE:
@@ -268,6 +272,9 @@ bool telemetrySensorAllowed(sensor_id_e id)
         case TELEM_NONE:
             return true;
 
+        case TELEM_HEARTBEAT:
+            return true;
+
         /////////////////////////////////////////
         ////// BATERY //////////////////////////
         case TELEM_BATTERY:
@@ -303,6 +310,8 @@ bool telemetrySensorAllowed(sensor_id_e id)
             return true;
         case TELEM_ATTITUDE_YAW:
             return true;
+        case TELEM_VARIOMETER:
+            return sensors(SENSOR_BARO);
 
         case TELEM_ACCEL_X:
             return true;
@@ -314,6 +323,8 @@ bool telemetrySensorAllowed(sensor_id_e id)
         /////////////////////////////////////////
         ////// GPS     //////////////////////////
 #ifdef USE_GPS
+        case TELEM_GPS:
+            FALLTHROUGH;
         case TELEM_GPS_SATS:
             FALLTHROUGH;
         case TELEM_GPS_HDOP:
@@ -348,7 +359,8 @@ bool telemetrySensorAllowed(sensor_id_e id)
         case TELEM_ESC4_RPM:
             return shouldSendDataForMotorIndex(3);;
 
-
+        case TELEM_TEMPERATURE:
+            return true;
         case TELEM_ESC_TEMPERATURE:
             FALLTHROUGH;
         case TELEM_ESC1_TEMPERATURE: