Add RTC6705 SPI VTX support

src/main/blackbox/blackbox.c

@@ -60,6 +60,7 @@
 #include "io/serial_cli.h"
 #include "io/serial_msp.h"
 #include "io/statusindicator.h"
+#include "io/vtx.h"
 
 #include "rx/rx.h"
 #include "rx/msp.h"

src/main/blackbox/blackbox_io.c

@@ -36,6 +36,7 @@
 #include "io/escservo.h"
 #include "rx/rx.h"
 #include "io/rc_controls.h"
+#include "io/vtx.h"
 
 #include "io/gimbal.h"
 #include "io/gps.h"

src/main/config/config.c

@@ -54,6 +54,7 @@
 #include "io/rc_curves.h"
 #include "io/ledstrip.h"
 #include "io/gps.h"
+#include "io/vtx.h"
 
 #include "rx/rx.h"
 
@@ -567,6 +568,13 @@ static void resetConf(void)
     masterConfig.ledstrip_visual_beeper = 0;
 #endif
 
+#ifdef VTX
+    masterConfig.vtx_band = 4;    //Fatshark/Airwaves
+    masterConfig.vtx_channel = 1; //CH1
+    masterConfig.vtx_mode = 0;    //CH+BAND mode
+    masterConfig.vtx_mhz = 5740;  //F0
+#endif
+
 #ifdef SPRACINGF3
     featureSet(FEATURE_BLACKBOX);
     masterConfig.blackbox_device = 1;

src/main/config/config_master.h

@@ -132,6 +132,15 @@ typedef struct master_t {
     modeActivationCondition_t modeActivationConditions[MAX_MODE_ACTIVATION_CONDITION_COUNT];
     adjustmentRange_t adjustmentRanges[MAX_ADJUSTMENT_RANGE_COUNT];
 
+#ifdef VTX
+    uint8_t vtx_band; //1=A, 2=B, 3=E, 4=F(Airwaves/Fatshark), 5=Raceband
+    uint8_t vtx_channel; //1-8
+    uint8_t vtx_mode; //0=ch+band 1=mhz
+    uint16_t vtx_mhz; //5740
+
+    vtxChannelActivationCondition_t vtxChannelActivationConditions[MAX_CHANNEL_ACTIVATION_CONDITION_COUNT];
+#endif
+
 #ifdef BLACKBOX
     uint8_t blackbox_rate_num;
     uint8_t blackbox_rate_denom;

src/main/drivers/vtx_rtc6705.c

@@ -0,0 +1,191 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Author: Giles Burgess (giles@multiflite.co.uk)
+ *
+ * This source code is provided as is and can be used/modified so long
+ * as this header is maintained with the file at all times.
+ */
+
+#include <stdlib.h>
+#include <stdbool.h>
+#include <stdint.h>
+
+#include "platform.h"
+
+#ifdef VTX
+
+#include "common/maths.h"
+
+#include "drivers/vtx_rtc6705.h"
+#include "drivers/bus_spi.h"
+#include "drivers/system.h"
+
+#define RTC6705_SET_HEAD 0x3210 //fosc=8mhz r=400
+#define RTC6705_SET_A1 0x8F3031 //5865
+#define RTC6705_SET_A2 0x8EB1B1 //5845
+#define RTC6705_SET_A3 0x8E3331 //5825
+#define RTC6705_SET_A4 0x8DB4B1 //5805
+#define RTC6705_SET_A5 0x8D3631 //5785
+#define RTC6705_SET_A6 0x8CB7B1 //5765
+#define RTC6705_SET_A7 0x8C4131 //5745
+#define RTC6705_SET_A8 0x8BC2B1 //5725
+#define RTC6705_SET_B1 0x8BF3B1 //5733
+#define RTC6705_SET_B2 0x8C6711 //5752
+#define RTC6705_SET_B3 0x8CE271 //5771
+#define RTC6705_SET_B4 0x8D55D1 //5790
+#define RTC6705_SET_B5 0x8DD131 //5809
+#define RTC6705_SET_B6 0x8E4491 //5828
+#define RTC6705_SET_B7 0x8EB7F1 //5847
+#define RTC6705_SET_B8 0x8F3351 //5866
+#define RTC6705_SET_E1 0x8B4431 //5705
+#define RTC6705_SET_E2 0x8AC5B1 //5685
+#define RTC6705_SET_E3 0x8A4731 //5665
+#define RTC6705_SET_E4 0x89D0B1 //5645
+#define RTC6705_SET_E5 0x8FA6B1 //5885
+#define RTC6705_SET_E6 0x902531 //5905
+#define RTC6705_SET_E7 0x90A3B1 //5925
+#define RTC6705_SET_E8 0x912231 //5945
+#define RTC6705_SET_F1 0x8C2191 //5740
+#define RTC6705_SET_F2 0x8CA011 //5760
+#define RTC6705_SET_F3 0x8D1691 //5780
+#define RTC6705_SET_F4 0x8D9511 //5800
+#define RTC6705_SET_F5 0x8E1391 //5820
+#define RTC6705_SET_F6 0x8E9211 //5840
+#define RTC6705_SET_F7 0x8F1091 //5860
+#define RTC6705_SET_F8 0x8F8711 //5880
+#define RTC6705_SET_R1 0x8A2151 //5658
+#define RTC6705_SET_R2 0x8B04F1 //5695
+#define RTC6705_SET_R3 0x8BF091 //5732
+#define RTC6705_SET_R4 0x8CD431 //5769
+#define RTC6705_SET_R5 0x8DB7D1 //5806
+#define RTC6705_SET_R6 0x8EA371 //5843
+#define RTC6705_SET_R7 0x8F8711 //5880
+#define RTC6705_SET_R8 0x9072B1 //5917
+
+#define RTC6705_SET_R  400     //Reference clock
+#define RTC6705_SET_FDIV 1024  //128*(fosc/1000000)
+#define RTC6705_SET_NDIV 16    //Remainder divider to get 'A' part of equation
+#define RTC6705_SET_WRITE 0x11 //10001b to write to register
+#define RTC6705_SET_DIVMULT 1000000 //Division value (to fit into a uint32_t) (Hz to MHz)
+
+#define DISABLE_RTC6705 GPIO_SetBits(RTC6705_CS_GPIO,   RTC6705_CS_PIN)
+#define ENABLE_RTC6705  GPIO_ResetBits(RTC6705_CS_GPIO, RTC6705_CS_PIN)
+
+// Define variables
+static const uint32_t channelArray[RTC6705_BAND_MAX][RTC6705_CHANNEL_MAX] = {
+    { RTC6705_SET_A1, RTC6705_SET_A2, RTC6705_SET_A3, RTC6705_SET_A4, RTC6705_SET_A5, RTC6705_SET_A6, RTC6705_SET_A7, RTC6705_SET_A8 },
+    { RTC6705_SET_B1, RTC6705_SET_B2, RTC6705_SET_B3, RTC6705_SET_B4, RTC6705_SET_B5, RTC6705_SET_B6, RTC6705_SET_B7, RTC6705_SET_B8 },
+    { RTC6705_SET_E1, RTC6705_SET_E2, RTC6705_SET_E3, RTC6705_SET_E4, RTC6705_SET_E5, RTC6705_SET_E6, RTC6705_SET_E7, RTC6705_SET_E8 },
+    { RTC6705_SET_F1, RTC6705_SET_F2, RTC6705_SET_F3, RTC6705_SET_F4, RTC6705_SET_F5, RTC6705_SET_F6, RTC6705_SET_F7, RTC6705_SET_F8 },
+    { RTC6705_SET_R1, RTC6705_SET_R2, RTC6705_SET_R3, RTC6705_SET_R4, RTC6705_SET_R5, RTC6705_SET_R6, RTC6705_SET_R7, RTC6705_SET_R8 },
+};
+
+/**
+ * Send a command and return if good
+ * TODO chip detect
+ */
+static bool rtc6705IsReady()
+{
+    // Sleep a little bit to make sure it has booted
+    delay(50);
+
+    // TODO Do a read and get current config (note this would be reading on MOSI (data) line)
+
+    return true;
+}
+
+/**
+ * Reverse a uint32_t (LSB to MSB)
+ * This is easier for when generating the frequency to then
+ * reverse the bits afterwards
+ */
+static uint32_t reverse32(uint32_t in) {
+    uint32_t out = 0;
+
+    for (uint8_t i = 0 ; i < 32 ; i++)
+    {
+        out |= ((in>>i) & 1)<<(31-i);
+    }
+
+    return out;
+}
+
+/**
+ * Start chip if available
+ */
+bool rtc6705Init()
+{
+    DISABLE_RTC6705;
+    spiSetDivisor(RTC6705_SPI_INSTANCE, SPI_0_5625MHZ_CLOCK_DIVIDER);
+    return rtc6705IsReady();
+}
+
+/**
+ * Transfer a 25bit packet to RTC6705
+ * This will just send it as a 32bit packet LSB meaning
+ * extra 0's get truncated on RTC6705 end
+ */
+static void rtc6705Transfer(uint32_t command)
+{
+    command = reverse32(command);
+
+    ENABLE_RTC6705;
+
+    spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 24) & 0xFF);
+    spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 16) & 0xFF);
+    spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 8) & 0xFF);
+    spiTransferByte(RTC6705_SPI_INSTANCE, (command >> 0) & 0xFF);
+
+    DISABLE_RTC6705;
+}
+
+/**
+ * Set a band and channel
+ */
+void rtc6705SetChannel(uint8_t band, uint8_t channel)
+{
+    band = constrain(band, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
+    channel = constrain(channel, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
+
+    rtc6705Transfer(RTC6705_SET_HEAD);
+    rtc6705Transfer(channelArray[band-1][channel-1]);
+}
+
+ /**
+ * Set a freq in mhz
+ * Formula derived from datasheet
+ */
+void rtc6705SetFreq(uint16_t freq)
+{
+    freq = constrain(freq, RTC6705_FREQ_MIN, RTC6705_FREQ_MAX);
+
+    uint32_t val_hex = 0;
+
+    uint32_t val_a = ((((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) % RTC6705_SET_FDIV) / RTC6705_SET_NDIV; //Casts required to make sure correct math (large numbers)
+    uint32_t val_n = (((uint64_t)freq*(uint64_t)RTC6705_SET_DIVMULT*(uint64_t)RTC6705_SET_R)/(uint64_t)RTC6705_SET_DIVMULT) / RTC6705_SET_FDIV; //Casts required to make sure correct math (large numbers)
+ 
+    val_hex |= RTC6705_SET_WRITE;
+    val_hex |= (val_a << 5);
+    val_hex |= (val_n << 12);
+
+    rtc6705Transfer(RTC6705_SET_HEAD);
+    rtc6705Transfer(val_hex);
+}
+
+#endif

src/main/drivers/vtx_rtc6705.h

@@ -0,0 +1,38 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+/*
+ * Author: Giles Burgess (giles@multiflite.co.uk)
+ *
+ * This source code is provided as is and can be used/modified so long
+ * as this header is maintained with the file at all times.
+ */
+
+#pragma once
+
+#include <stdint.h>
+
+#define RTC6705_BAND_MIN    1
+#define RTC6705_BAND_MAX    5
+#define RTC6705_CHANNEL_MIN 1
+#define RTC6705_CHANNEL_MAX 8
+#define RTC6705_FREQ_MIN    5600
+#define RTC6705_FREQ_MAX    5950
+
+bool rtc6705Init();
+void rtc6705SetChannel(uint8_t band, uint8_t channel);
+void rtc6705SetFreq(uint16_t freq);

src/main/io/beeper.c

@@ -31,6 +31,7 @@
 #include "sensors/sensors.h"
 
 #include "io/statusindicator.h"
+#include "io/vtx.h"
 
 #ifdef GPS
 #include "io/gps.h"

src/main/io/ledstrip.c

@@ -58,6 +58,7 @@
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/gps.h"
+#include "io/vtx.h"
 
 #include "flight/failsafe.h"
 #include "flight/mixer.h"

src/main/io/rc_controls.c

@@ -49,6 +49,7 @@
 #include "io/escservo.h"
 #include "io/rc_controls.h"
 #include "io/rc_curves.h"
+#include "io/vtx.h"
 
 #include "io/display.h"
 
@@ -304,6 +305,21 @@ void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStat
     }
 #endif
 
+#ifdef VTX
+    if (rcSticks ==  THR_HI + YAW_LO + PIT_CE + ROL_HI) {
+        vtxIncrementBand();
+    }
+    if (rcSticks ==  THR_HI + YAW_LO + PIT_CE + ROL_LO) {
+        vtxDecrementBand();
+    }
+    if (rcSticks ==  THR_HI + YAW_HI + PIT_CE + ROL_HI) {
+        vtxIncrementChannel();
+    }
+    if (rcSticks ==  THR_HI + YAW_HI + PIT_CE + ROL_LO) {
+        vtxDecrementChannel();
+    }
+#endif
+
 }
 
 bool isModeActivationConditionPresent(modeActivationCondition_t *modeActivationConditions, boxId_e modeId)

src/main/io/rc_controls.h

@@ -161,6 +161,7 @@ bool areSticksInApModePosition(uint16_t ap_mode);
 throttleStatus_e calculateThrottleStatus(rxConfig_t *rxConfig, uint16_t deadband3d_throttle);
 void processRcStickPositions(rxConfig_t *rxConfig, throttleStatus_e throttleStatus, bool disarm_kill_switch);
 
+bool isRangeActive(uint8_t auxChannelIndex, channelRange_t *range);
 void updateActivatedModes(modeActivationCondition_t *modeActivationConditions);
 
 

src/main/io/serial_cli.c

@@ -60,6 +60,7 @@
 #include "io/flashfs.h"
 #include "io/beeper.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/vtx.h"
 
 #include "rx/rx.h"
 #include "rx/spektrum.h"
@@ -164,6 +165,10 @@ static void cliFlashRead(char *cmdline);
 #endif
 #endif
 
+#ifdef VTX
+static void cliVtx(char *cmdline);
+#endif
+
 #ifdef USE_SDCARD
 static void cliSdInfo(char *cmdline);
 #endif
@@ -326,6 +331,9 @@ const clicmd_t cmdTable[] = {
     CLI_COMMAND_DEF("beeper", "turn on/off beeper", "list\r\n"
             "\t<+|->[name]", cliBeeper),
 #endif
+#ifdef VTX
+    CLI_COMMAND_DEF("vtx", "vtx channels on switch", NULL, cliVtx),
+#endif
 };
 #define CMD_COUNT (sizeof(cmdTable) / sizeof(clicmd_t))
 
@@ -768,6 +776,13 @@ const clivalue_t valueTable[] = {
     { "blackbox_device",            VAR_UINT8  | MASTER_VALUE | MODE_LOOKUP,  &masterConfig.blackbox_device, .config.lookup = { TABLE_BLACKBOX_DEVICE } },
 #endif
 
+#ifdef VTX
+    { "vtx_band",                   VAR_UINT8  | MASTER_VALUE,  &masterConfig.vtx_band, .config.minmax = { 1, 5 } },
+    { "vtx_channel",                VAR_UINT8  | MASTER_VALUE,  &masterConfig.vtx_channel, .config.minmax = { 1, 8 } },
+    { "vtx_mode",                   VAR_UINT8  | MASTER_VALUE,  &masterConfig.vtx_mode, .config.minmax = { 0, 2 } },
+    { "vtx_mhz",                    VAR_UINT16 | MASTER_VALUE,  &masterConfig.vtx_mhz, .config.minmax = { 5600, 5950 } },
+#endif
+
     { "magzero_x",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[X], .config.minmax = { -32768,  32767 } },
     { "magzero_y",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[Y], .config.minmax = { -32768,  32767 } },
     { "magzero_z",                  VAR_INT16  | MASTER_VALUE, &masterConfig.magZero.raw[Z], .config.minmax = { -32768,  32767 } },
@@ -1773,6 +1788,67 @@ static void cliFlashRead(char *cmdline)
 #endif
 #endif
 
+#ifdef VTX
+static void cliVtx(char *cmdline)
+{
+    int i, val = 0;
+    char *ptr;
+
+    if (isEmpty(cmdline)) {
+        // print out vtx channel settings
+        for (i = 0; i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; i++) {
+            vtxChannelActivationCondition_t *cac = &masterConfig.vtxChannelActivationConditions[i];
+            printf("vtx %u %u %u %u %u %u\r\n",
+                i,
+                cac->auxChannelIndex,
+                cac->band,
+                cac->channel,
+                MODE_STEP_TO_CHANNEL_VALUE(cac->range.startStep),
+                MODE_STEP_TO_CHANNEL_VALUE(cac->range.endStep)
+            );
+        }
+    } else {
+        ptr = cmdline;
+        i = atoi(ptr++);
+        if (i < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT) {
+            vtxChannelActivationCondition_t *cac = &masterConfig.vtxChannelActivationConditions[i];
+            uint8_t validArgumentCount = 0;
+            ptr = strchr(ptr, ' ');
+            if (ptr) {
+                val = atoi(++ptr);
+                if (val >= 0 && val < MAX_AUX_CHANNEL_COUNT) {
+                    cac->auxChannelIndex = val;
+                    validArgumentCount++;
+                }
+            }
+            ptr = strchr(ptr, ' ');
+            if (ptr) {
+                val = atoi(++ptr);
+                if (val >= VTX_BAND_MIN && val <= VTX_BAND_MAX) {
+                    cac->band = val;
+                    validArgumentCount++;
+                }
+            }
+            ptr = strchr(ptr, ' ');
+            if (ptr) {
+                val = atoi(++ptr);
+                if (val >= VTX_CHANNEL_MIN && val <= VTX_CHANNEL_MAX) {
+                    cac->channel = val;
+                    validArgumentCount++;
+                }
+            }
+            ptr = processChannelRangeArgs(ptr, &cac->range, &validArgumentCount);
+
+            if (validArgumentCount != 5) {
+                memset(cac, 0, sizeof(vtxChannelActivationCondition_t));
+            }
+        } else {
+            cliShowArgumentRangeError("index", 0, MAX_CHANNEL_ACTIVATION_CONDITION_COUNT - 1);
+        }
+    }
+}
+#endif
+
 static void dumpValues(uint16_t valueSection)
 {
     uint32_t i;
@@ -1963,6 +2039,12 @@ static void cliDump(char *cmdline)
         }
 #endif
 
+#ifdef VTX
+        cliPrint("\r\n# vtx\r\n");
+
+        cliVtx("");
+#endif
+
         printSectionBreak();
         dumpValues(MASTER_VALUE);
 

src/main/io/serial_msp.c

@@ -57,6 +57,7 @@
 #include "io/flashfs.h"
 #include "io/transponder_ir.h"
 #include "io/asyncfatfs/asyncfatfs.h"
+#include "io/vtx.h"
 
 #include "telemetry/telemetry.h"
 

src/main/io/vtx.c

@@ -0,0 +1,146 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <string.h>
+
+#include "platform.h"
+
+#ifdef VTX
+
+#include "common/color.h"
+#include "common/axis.h"
+#include "common/maths.h"
+
+#include "drivers/sensor.h"
+#include "drivers/accgyro.h"
+#include "drivers/compass.h"
+#include "drivers/system.h"
+#include "drivers/gpio.h"
+#include "drivers/timer.h"
+#include "drivers/pwm_rx.h"
+#include "drivers/serial.h"
+
+#include "sensors/sensors.h"
+#include "sensors/gyro.h"
+#include "sensors/compass.h"
+#include "sensors/acceleration.h"
+#include "sensors/barometer.h"
+#include "sensors/boardalignment.h"
+#include "sensors/battery.h"
+
+#include "io/beeper.h"
+#include "io/serial.h"
+#include "io/gimbal.h"
+#include "io/escservo.h"
+#include "io/rc_controls.h"
+#include "io/rc_curves.h"
+#include "io/ledstrip.h"
+#include "io/gps.h"
+#include "io/vtx.h"
+
+#include "rx/rx.h"
+
+#include "telemetry/telemetry.h"
+
+#include "flight/mixer.h"
+#include "flight/pid.h"
+#include "flight/imu.h"
+#include "flight/failsafe.h"
+#include "flight/altitudehold.h"
+#include "flight/navigation.h"
+
+#include "config/config.h"
+#include "config/config_profile.h"
+#include "config/config_master.h"
+#include "config/runtime_config.h"
+
+static uint8_t locked = 0;
+
+void vtxInit()
+{
+	rtc6705Init();
+    if (masterConfig.vtx_mode == 0) {
+        rtc6705SetChannel(masterConfig.vtx_band, masterConfig.vtx_channel);
+    } else if (masterConfig.vtx_mode == 1) {
+        rtc6705SetFreq(masterConfig.vtx_mhz);
+    }
+}
+
+static void setChannelSaveAndNotify(uint8_t *bandOrChannel, uint8_t step, int32_t min, int32_t max)
+{
+    if (ARMING_FLAG(ARMED)) {
+        locked = 1;
+    }
+
+    if (masterConfig.vtx_mode == 0 && !locked) {
+        uint8_t temp = (*bandOrChannel) + step;
+        temp = constrain(temp, min, max);
+        *bandOrChannel = temp;
+
+        rtc6705SetChannel(masterConfig.vtx_band, masterConfig.vtx_channel);
+        writeEEPROM();
+        readEEPROM();
+        beeperConfirmationBeeps(temp);
+    }
+}
+
+void vtxIncrementBand()
+{
+    setChannelSaveAndNotify(&(masterConfig.vtx_band), 1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
+}
+
+void vtxDecrementBand()
+{
+    setChannelSaveAndNotify(&(masterConfig.vtx_band), -1, RTC6705_BAND_MIN, RTC6705_BAND_MAX);
+}
+
+void vtxIncrementChannel()
+{
+    setChannelSaveAndNotify(&(masterConfig.vtx_channel), 1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
+}
+
+void vtxDecrementChannel()
+{
+    setChannelSaveAndNotify(&(masterConfig.vtx_channel), -1, RTC6705_CHANNEL_MIN, RTC6705_CHANNEL_MAX);
+}
+
+void vtxUpdateActivatedChannel()
+{
+    if (ARMING_FLAG(ARMED)) {
+        locked = 1;
+    }
+
+    if (masterConfig.vtx_mode == 2 && !locked) {
+        static uint8_t lastIndex = -1;
+        uint8_t index;
+
+        for (index = 0; index < MAX_CHANNEL_ACTIVATION_CONDITION_COUNT; index++) {
+            vtxChannelActivationCondition_t *vtxChannelActivationCondition = &masterConfig.vtxChannelActivationConditions[index];
+
+            if (isRangeActive(vtxChannelActivationCondition->auxChannelIndex, &vtxChannelActivationCondition->range)
+                && index != lastIndex) {
+                lastIndex = index;
+                rtc6705SetChannel(vtxChannelActivationCondition->band, vtxChannelActivationCondition->channel);
+                break;
+            }
+        }
+    }
+}
+
+#endif

src/main/io/vtx.h

@@ -0,0 +1,40 @@
+/*
+ * This file is part of Cleanflight.
+ *
+ * Cleanflight is free software: you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation, either version 3 of the License, or
+ * (at your option) any later version.
+ *
+ * Cleanflight is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with Cleanflight.  If not, see <http://www.gnu.org/licenses/>.
+ */
+ 
+#pragma once
+
+#include "drivers/vtx_rtc6705.h"
+
+#define VTX_BAND_MIN    						1
+#define VTX_BAND_MAX    						5
+#define VTX_CHANNEL_MIN 						1
+#define VTX_CHANNEL_MAX 						8
+#define MAX_CHANNEL_ACTIVATION_CONDITION_COUNT 	10
+
+typedef struct vtxChannelActivationCondition_s {
+    uint8_t auxChannelIndex;
+    uint8_t band;
+    uint8_t channel;
+    channelRange_t range;
+} vtxChannelActivationCondition_t;
+
+void vtxInit();
+void vtxIncrementBand();
+void vtxDecrementBand();
+void vtxIncrementChannel();
+void vtxDecrementChannel();
+void vtxUpdateActivatedChannel();

src/main/main.c

@@ -70,6 +70,7 @@
 #include "io/display.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/transponder_ir.h"
+#include "io/vtx.h"
 
 #include "sensors/sensors.h"
 #include "sensors/sonar.h"
@@ -397,6 +398,10 @@ void init(void)
 #endif
 #endif
 
+#ifdef VTX
+    vtxInit();
+#endif
+
 #ifdef USE_HARDWARE_REVISION_DETECTION
     updateHardwareRevision();
 #endif

src/main/mw.c

@@ -65,7 +65,7 @@
 #include "io/statusindicator.h"
 #include "io/asyncfatfs/asyncfatfs.h"
 #include "io/transponder_ir.h"
-
+#include "io/vtx.h"
 
 #include "rx/rx.h"
 #include "rx/msp.h"
@@ -629,6 +629,9 @@ void processRx(void)
     }
 #endif
 
+#ifdef VTX
+    vtxUpdateActivatedChannel();
+#endif
 }
 
 void subTaskPidController(void)

src/main/telemetry/ltm.c

@@ -62,6 +62,7 @@
 #include "io/gps.h"
 #include "io/ledstrip.h"
 #include "io/beeper.h"
+#include "io/vtx.h"
 
 #include "rx/rx.h"
 

src/main/telemetry/smartport.c

@@ -37,6 +37,7 @@
 #include "io/gimbal.h"
 #include "io/serial.h"
 #include "io/ledstrip.h"
+#include "io/vtx.h"
 
 #include "sensors/boardalignment.h"
 #include "sensors/sensors.h"