XpressCRSF

XpressCRSF is a fast and lightweight CRSF (Crossfire) protocol parser for ExpressLRS receivers on Raspberry Pi. It operates at the default baud rate of 420,000, using the termios library for efficient serial communication. XpressCRSF enables real-time parsing of telemetry and control data on Raspberry Pi.

License:

C++ Version:

Build and Install:

# build and install libraries
mkdir build
cd build/
cmake ..
make && sudo make install

Import:

#include "xcrsf/crossfire.h"

auto crossfire = crossfire::XCrossfire("/dev/ttyAMA10");
crossfire.open_port()

Usage:

Receive Channel Information

int main() {
    // Create instance of XCrossfire
    auto crossfire = crossfire::XCrossfire("/dev/ttyAMA10");
    if (crossfire.open_port()) { std::printf("Port opened...\n"); }

    while (crossfire.is_paired()) {
        // Get channel data
        const auto channels = crossfire.get_channels();
        this_thread::sleep_for(std::chrono::milliseconds(10));
    }
    
    // Get link statistics
    const auto link = crossfire.get_link_state();
    std::printf("RSSI Antenna 1 %u, Antenna 2 %u\n", link.uplink_rssi_antenna_1, link.uplink_rssi_antenna_2);
    return 0;
}

Send Telemetry Information

int main() {
    // Create instance of XCrossfire
    auto crossfire = crossfire::XCrossfire("/dev/ttyAMA10");
    if (crossfire.open_port()) { std::printf("Port opened...\n"); }

    // Send Battery Telemetry
    crossfire.set_telemetry_battery(12.0, 16.0, 8500, 95);

    // Send Vario (Vertical Speed) Telemetry
    crossfire.set_telemetry_vario(100);

    // Send Attitude (Pitch, Roll, Yaw) Telemetry
    crossfire.set_telemetry_attitude(1.0, 1.0, -2.0);

    // Send GPS Telemetry
    crossfire.set_telemetry_gps(40.234, -37.365, 100, 100, 100, 2);
    return 0;
}