Update SBUS library version to 8.1.4

Makefile

@@ -15,7 +15,7 @@ dependencies .dependencies:
 	arduino-cli core update-index --config-file arduino-cli.yaml
 	arduino-cli core install esp32:[email protected] --config-file arduino-cli.yaml
 	arduino-cli lib update-index
-	arduino-cli lib install "Bolder Flight Systems SBUS"@1.0.1
+	arduino-cli lib install "Bolder Flight Systems SBUS"@8.1.4
 	arduino-cli lib install "Bolder Flight Systems MPU9250"@1.0.2
 	arduino-cli lib install "MAVLink"@2.0.1
 	touch .dependencies

docs/build.md

@@ -82,7 +82,7 @@ Use USB remote control or QGroundControl mobile app (with *Virtual Joystick* set
 1. Install [Arduino IDE](https://www.arduino.cc/en/software) (version 2 is recommended).
 2. Install ESP32 core using [Boards Manager](https://docs.arduino.cc/learn/starting-guide/cores).
 3. Install the following libraries using [Library Manager](https://docs.arduino.cc/software/ide-v2/tutorials/ide-v2-installing-a-library) (**versions are significant**):
-   * `Bolder Flight Systems SBUS`, version 1.0.1.
+   * `Bolder Flight Systems SBUS`, version 8.1.4.
    * `Bolder Flight Systems MPU9250`, version 1.0.2.
    * `MAVLink`, version 2.0.1.
 4. Clone the project using git or [download the source code as a ZIP archive](https://codeload.github.com/okalachev/flix/zip/refs/heads/master).

flix/flix.ino

@@ -26,7 +26,7 @@
 float t = NAN; // current step time, s
 float dt; // time delta from previous step, s
 float loopFreq; // loop frequency, Hz
-uint16_t channels[16]; // raw rc channels
+int16_t channels[16]; // raw rc channels
 float controls[RC_CHANNELS]; // normalized controls in range [-1..1] ([0..1] for throttle)
 Vector rates; // angular rates, rad/s
 Vector acc; // accelerometer data, m/s/s

flix/rc.ino

@@ -3,25 +3,25 @@
 
 // Work with the RC receiver
 
-#include <SBUS.h>
+#include <sbus.h>
 
 // NOTE: use `cr` command and replace with the actual values
 int channelNeutral[] = {995, 883, 200, 972, 512, 512};
 int channelMax[] = {1651, 1540, 1713, 1630, 1472, 1472};
 
-SBUS RC(Serial2);
+bfs::SbusRx RC(&Serial2, 16, 17, true);
 
 void setupRC() {
 	Serial.println("Setup RC");
-	RC.begin();
-	Serial2.setRxInvert(true); // SBUS uses inverted signal
+	RC.Begin();
 }
 
 void readRC() {
-	bool failsafe, lostFrame;
-	if (RC.read(channels, &failsafe, &lostFrame)) {
-		if (failsafe) { return; } // TODO:
-		if (lostFrame) { return; }
+	if (RC.Read()) {
+		bfs::SbusData data = RC.data();
+		for (int i = 0; i < RC_CHANNELS; i++) {
+			channels[i] = data.ch[i];
+		}
 		normalizeRC();
 	}
 }