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Make CRSF telemetry accessible over WIFI as UDP broadcast #211

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Make CRSF telemetry accessible over WIFI as UDP broadcast #211

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41d81c0
added CRSF telemetry via UDP broadcast
xNuclearSquirrel Feb 18, 2026
fc02a25
enabled espnow also in wifi mode
xNuclearSquirrel Feb 18, 2026
973628d
style changes
xNuclearSquirrel Feb 18, 2026
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52 changes: 52 additions & 0 deletions lib/WIFI/devWIFI.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -119,6 +119,58 @@ IPAddress gcsIP;
bool gcsIPSet = false;
#endif

#if defined(TARGET_TX_BACKPACK)
bool SendTxBackpackTelemetryViaUDP(const uint8_t *data, uint16_t size)
{
if (!data || size == 0)
{
return false;
}

#if !defined(MAVLINK_ENABLED)
return false;
#else
if (!servicesStarted || !wifiStarted)
{
return false;
}
if (wifiService != WIFI_SERVICE_MAVLINK_TX)
{
return false;
}

IPAddress remote;
WiFiMode_t mode = WiFi.getMode();
if (mode == WIFI_AP || mode == WIFI_AP_STA)
{
remote = apBroadcast;
}
else if (mode == WIFI_STA)
{
remote = WiFi.broadcastIP();
}
else
{
return false;
}

if (!mavlinkUDP.beginPacket(remote, config.GetMavlinkSendPort()))
{
return false;
}

size_t sent = mavlinkUDP.write(data, size);
if (sent != size)
{
mavlinkUDP.endPacket();
return false;
}

return mavlinkUDP.endPacket() == 1;
#endif
}
#endif

/** Is this an IP? */
static boolean isIp(String str)
{
Expand Down
6 changes: 5 additions & 1 deletion lib/WIFI/devWIFI.h
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Original file line number Diff line number Diff line change
Expand Up @@ -7,4 +7,8 @@ extern device_t WIFI_device;
#define HAS_WIFI

extern const char *VERSION;
#endif

#if defined(TARGET_TX_BACKPACK)
bool SendTxBackpackTelemetryViaUDP(const uint8_t *data, uint16_t size);
#endif
#endif
22 changes: 21 additions & 1 deletion src/Tx_main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ MAVLink mavlink;
/////////// FUNCTION DEFS ///////////

void sendMSPViaEspnow(mspPacket_t *packet);
void sendMSPViaWiFiUDP(mspPacket_t *packet);

/////////////////////////////////////

Expand Down Expand Up @@ -224,7 +225,12 @@ void ProcessMSPPacketFromTX(mspPacket_t *packet)

case MSP_ELRS_BACKPACK_CRSF_TLM:
DBGLN("Processing MSP_ELRS_BACKPACK_CRSF_TLM...");
if (config.GetTelemMode() != BACKPACK_TELEM_MODE_OFF)
if (config.GetTelemMode() == BACKPACK_TELEM_MODE_WIFI)
{
sendMSPViaWiFiUDP(packet);
sendMSPViaEspnow(packet);
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@Allain18 Allain18 Feb 20, 2026

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Just check it on my pocket, when in WIFI espnow packets are not send. So no need to keep this line

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@xNuclearSquirrel xNuclearSquirrel Feb 20, 2026

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Ok, good to know. I left it in since it was like that previously, in case that was an intentional choice.

}
else if (config.GetTelemMode() != BACKPACK_TELEM_MODE_OFF)
{
sendMSPViaEspnow(packet);
}
Expand Down Expand Up @@ -288,6 +294,20 @@ void sendMSPViaEspnow(mspPacket_t *packet)
blinkLED();
}

void sendMSPViaWiFiUDP(mspPacket_t *packet)
{
uint8_t packetSize = msp.getTotalPacketSize(packet);
uint8_t dataOutput[packetSize];

uint8_t result = msp.convertToByteArray(packet, dataOutput);
if (!result)
{
return;
}

SendTxBackpackTelemetryViaUDP(dataOutput, packetSize);
}

void SendCachedMSP()
{
if (!cacheFull)
Expand Down