New Feature: Dual switchable receivers

docs/Programming Framework.md

@@ -119,9 +119,12 @@ for complete documentation on using JavaScript to program your flight controller
 | 54            | Mag calibration               | Trigger a magnetometer calibration. |
 | 55            | Set Gimbal Sensitivity        | Scales `Operand A` from [`-16` : `15`]
 | 56            | Override Minimum Ground Speed | When active, sets the minimum ground speed to the value specified in `Operand A` [m/s]. Minimum allowed value is set in `nav_min_ground_speed`. Maximum value is `150` |
+| 57            | Set Altitude Target           | Sets the navigation altitude target. `Operand A` selects the altitude datum and `Operand B` supplies the target altitude in centimetres. |
 | 58            | Trigonometry: ACos            | Computes ACOS of (`Operand A` / `Operand B`) using the fast approximation. If `Operand B` is `0`, `1000` is used. Input is clamped to [-1, 1] and the result is returned in degrees. |
 | 59            | Trigonometry: ASin            | Computes ASIN of (`Operand A` / `Operand B`) using the fast approximation. If `Operand B` is `0`, `1000` is used. Input is clamped to [-1, 1] and the result is returned in degrees. |
 | 60            | Trigonometry: ATan2           | Computes ATAN2 using `Operand A` as Y and `Operand B` as X with the fast approximation. Returns a signed angle in degrees in `(-180, 180]`. |
+| 61            | Activate RTH                  | While armed, activates normal return-to-home mode through the same mode selector path as RC RTH. Returns true when RTH mode is accepted. |
+| 62            | Activate Landing              | While armed with usable navigation estimates, commands a normal landing at the current position through the waypoint LAND path. This is not emergency landing. |
 
 ### Operands
 

docs/Settings.md

@@ -959,6 +959,16 @@ Defines the type of stage 1 D-term LPF filter. Possible values: `PT1`, `BIQUAD`,
 
 ---
 
+### dual_rx_enabled
+
+Enable dual receiver (RX) handling. When OFF, only the primary receiver is used even if secondary settings are configured.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### dynamic_gyro_notch_3d_q
 
 Q factor for 3D dynamic notches
@@ -2855,88 +2865,198 @@ Autopilot type to advertise for MAVLink telemetry
 
 ---
 
-### mavlink_ext_status_rate
+### mavlink_port1_ext_status_rate
 
-Rate of the extended status message for MAVLink telemetry
+Rate of the extended status message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 2 | 0 | 255 |
 
 ---
 
-### mavlink_extra1_rate
+### mavlink_port1_extra1_rate
 
-Rate of the extra1 message for MAVLink telemetry
+Rate of the extra1 message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 2 | 0 | 255 |
 
 ---
 
-### mavlink_extra2_rate
+### mavlink_port1_extra2_rate
 
-Rate of the extra2 message for MAVLink telemetry
+Rate of the extra2 message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 2 | 0 | 255 |
 
 ---
 
-### mavlink_extra3_rate
+### mavlink_port1_extra3_rate
 
-Rate of the extra3 message for MAVLink telemetry
+Rate of the extra3 message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 1 | 0 | 255 |
 
 ---
 
-### mavlink_min_txbuffer
+### mavlink_port1_high_latency
+
+Enable MAVLink high-latency mode on port 1
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mavlink_port1_min_txbuffer
 
-Minimum percent of TX buffer space free, before attempting to transmit telemetry. Requuires RADIO_STATUS messages to be processed. 0 = always transmits.
+Minimum percent of TX buffer space free for MAVLink port 1. Requires RADIO_STATUS messages.
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 33 | 0 | 100 |
 
 ---
 
-### mavlink_pos_rate
+### mavlink_port1_pos_rate
 
-Rate of the position message for MAVLink telemetry
+Rate of the position message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 2 | 0 | 255 |
 
 ---
 
-### mavlink_radio_type
+### mavlink_port1_radio_type
 
-Mavlink radio type. Affects how RSSI and LQ are reported on OSD.
+MAVLink radio type for port 1. Affects RSSI and LQ reporting on OSD.
 
 | Allowed Values |  |
 | --- | --- |
 | GENERIC | Default |
 | ELRS |  |
 | SIK |  |
+| MLRS |  |
 
 ---
 
-### mavlink_rc_chan_rate
+### mavlink_port1_rc_chan_rate
 
-Rate of the RC channels message for MAVLink telemetry
+Rate of the RC channels message for MAVLink telemetry on port 1
 
 | Default | Min | Max |
 | --- | --- | --- |
 | 1 | 0 | 255 |
 
 ---
 
+### mavlink_port2_high_latency
+
+Enable MAVLink high-latency mode on port 2
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mavlink_port2_min_txbuffer
+
+Minimum percent of TX buffer space free for MAVLink port 2. Requires RADIO_STATUS messages.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 33 | 0 | 100 |
+
+---
+
+### mavlink_port2_radio_type
+
+MAVLink radio type for port 2. Affects RSSI and LQ reporting on OSD.
+
+| Allowed Values |  |
+| --- | --- |
+| GENERIC | Default |
+| ELRS |  |
+| SIK |  |
+| MLRS |  |
+
+---
+
+### mavlink_port3_high_latency
+
+Enable MAVLink high-latency mode on port 3
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mavlink_port3_min_txbuffer
+
+Minimum percent of TX buffer space free for MAVLink port 3. Requires RADIO_STATUS messages.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 33 | 0 | 100 |
+
+---
+
+### mavlink_port3_radio_type
+
+MAVLink radio type for port 3. Affects RSSI and LQ reporting on OSD.
+
+| Allowed Values |  |
+| --- | --- |
+| GENERIC | Default |
+| ELRS |  |
+| SIK |  |
+| MLRS |  |
+
+---
+
+### mavlink_port4_high_latency
+
+Enable MAVLink high-latency mode on port 4
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
+### mavlink_port4_min_txbuffer
+
+Minimum percent of TX buffer space free for MAVLink port 4. Requires RADIO_STATUS messages.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 33 | 0 | 100 |
+
+---
+
+### mavlink_port4_radio_type
+
+MAVLink radio type for port 4. Affects RSSI and LQ reporting on OSD.
+
+| Allowed Values |  |
+| --- | --- |
+| GENERIC | Default |
+| ELRS |  |
+| SIK |  |
+| MLRS |  |
+
+---
+
 ### mavlink_sysid
 
 MAVLink System ID
@@ -6180,6 +6300,19 @@ Selection of receiver (RX) type. Additional configuration of a `serialrx_provide
 
 ---
 
+### receiver_type_secondary
+
+Selection of the secondary receiver (RX) type for dual RX setups. Set to `NONE` to disable the secondary link. Additional configuration of `serialrx_provider_secondary` and a UART is needed for `SERIAL`.
+
+| Allowed Values |  |
+| --- | --- |
+| NONE | Default |
+| SERIAL |  |
+| MSP |  |
+| SIM (SITL) |  |
+
+---
+
 ### report_cell_voltage
 
 S.Port and IBUS telemetry: Send the average cell voltage if set to ON
@@ -6357,6 +6490,16 @@ SBUS sync interval in us. Default value is 3000us. Lower values may cause issues
 
 ---
 
+### sbus_sync_interval_secondary
+
+SBUS sync interval in us for the secondary receiver. Default value is 3000us. Lower values may cause issues with some receivers.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| 3000 | 500 | 10000 |
+
+---
+
 ### sdcard_detect_inverted
 
 This setting drives the way SD card is detected in card slot. On some targets (AnyFC F7 clone) different card slot was used and depending of hardware revision ON or OFF setting might be required. If card is not detected, change this value.
@@ -6379,6 +6522,18 @@ Allow serial receiver to operate on UART TX pin. With some receivers will allow
 
 ---
 
+### serialrx_halfduplex_secondary
+
+Allow the secondary serial receiver to operate on UART TX pin. With some receivers will allow control and telemetry over a single wire.
+
+| Allowed Values |  |
+| --- | --- |
+| AUTO | Default |
+| ON |  |
+| OFF |  |
+
+---
+
 ### serialrx_inverted
 
 Reverse the serial inversion of the serial RX protocol. When this value is OFF, each protocol will use its default signal (e.g. SBUS will use an inverted signal). Some OpenLRS receivers produce a non-inverted SBUS signal. This setting supports this type of receivers (including modified FrSKY).
@@ -6389,6 +6544,16 @@ Reverse the serial inversion of the serial RX protocol. When this value is OFF,
 
 ---
 
+### serialrx_inverted_secondary
+
+Secondary serial RX inversion flag. Reverse the default inversion of the protocol for the secondary link.
+
+| Default | Min | Max |
+| --- | --- | --- |
+| OFF | OFF | ON |
+
+---
+
 ### serialrx_provider
 
 When feature SERIALRX is enabled, this allows connection to several receivers which output data via digital interface resembling serial. See RX section.
@@ -6414,6 +6579,31 @@ When feature SERIALRX is enabled, this allows connection to several receivers wh
 
 ---
 
+### serialrx_provider_secondary
+
+Secondary UART-based receiver provider. Only used when `receiver_type_secondary` is `SERIAL`.
+
+| Allowed Values |  |
+| --- | --- |
+| SPEK1024 |  |
+| SPEK2048 |  |
+| SBUS |  |
+| SUMD |  |
+| IBUS |  |
+| JETIEXBUS |  |
+| CRSF |  |
+| FPORT |  |
+| SBUS_FAST |  |
+| FPORT2 |  |
+| SRXL2 |  |
+| GHST |  |
+| MAVLINK |  |
+| FBUS |  |
+| SBUS2 |  |
+| _target default_ | Default |
+
+---
+
 ### servo_autotrim_rotation_limit
 
 Servo midpoints are only updated when total aircraft rotation is less than this threshold [deg/s]. Only applies when using `feature FW_AUTOTRIM`.