LP-499 Adds support for bridging either radio primary, radio auxilary, and/or VCP to any of the output ports (main, flexi, VCP, HID). Also adds the ability to configure the com speed of the UARTs independent of the air data rate.

flight/modules/OPLink/oplinkmod.c

@@ -122,6 +122,11 @@ static void systemTask(__attribute__((unused)) void *parameters)
     while (!initTaskDone) {
         vTaskDelay(10);
     }
+
+#ifndef PIOS_INCLUDE_WDG
+// if no watchdog is enabled, don't reset watchdog in MODULE_TASKCREATE_ALL loop
+#define PIOS_WDG_Clear()
+#endif
     /* create all modules thread */
     MODULE_TASKCREATE_ALL;
 

flight/modules/RadioComBridge/RadioComBridge.c

@@ -41,23 +41,21 @@
 #include <uavtalk_priv.h>
 #include <pios_rfm22b.h>
 #include <ecc.h>
-#if defined(PIOS_INCLUDE_FLASH_EEPROM)
-#include <pios_eeprom.h>
-#endif
 
 #include <stdbool.h>
 
 // ****************
 // Private constants
 
-#define STACK_SIZE_BYTES  150
+#define TELEM_STACK_SIZE_WORDS 150
-#define TASK_PRIORITY     (tskIDLE_PRIORITY + 1)
+#define PPM_STACK_SIZE_WORDS   150
-#define MAX_RETRIES       2
+#define TASK_PRIORITY          (tskIDLE_PRIORITY + 1)
-#define RETRY_TIMEOUT_MS  20
+#define MAX_RETRIES            2
-#define EVENT_QUEUE_SIZE  10
+#define RETRY_TIMEOUT_MS       20
-#define MAX_PORT_DELAY    200
+#define EVENT_QUEUE_SIZE       10
-#define SERIAL_RX_BUF_LEN 100
+#define MAX_PORT_DELAY         200
-#define PPM_INPUT_TIMEOUT 100
+#define SERIAL_RX_BUF_LEN      100
+#define PPM_INPUT_TIMEOUT      100
 
 
 // ****************
@@ -67,10 +65,9 @@ typedef struct {
     // The task handles.
     xTaskHandle telemetryTxTaskHandle;
     xTaskHandle telemetryRxTaskHandle;
-    xTaskHandle radioTxTaskHandle;
+    xTaskHandle telemRadioTxTaskHandle;
-    xTaskHandle radioRxTaskHandle;
+    xTaskHandle telemRadioRxTaskHandle;
     xTaskHandle PPMInputTaskHandle;
-    xTaskHandle serialRxTaskHandle;
 
     // The UAVTalk connection on the com side.
     UAVTalkConnection telemUAVTalkCon;
@@ -80,21 +77,12 @@ typedef struct {
     xQueueHandle uavtalkEventQueue;
     xQueueHandle radioEventQueue;
 
-    // The raw serial Rx buffer
-    uint8_t  serialRxBuf[SERIAL_RX_BUF_LEN];
-
     // Error statistics.
-    uint32_t telemetryTxRetries;
+    uint32_t     telemetryTxRetries;
-    uint32_t radioTxRetries;
+    uint32_t     radioTxRetries;
 
     // Is this modem the coordinator
-    bool     isCoordinator;
+    bool isCoordinator;
-
-    // Should we parse UAVTalk?
-    bool     parseUAVTalk;
-
-    // The current configured uart speed
-    OPLinkSettingsComSpeedOptions comSpeed;
 } RadioComBridgeData;
 
 // ****************
@@ -102,9 +90,8 @@ typedef struct {
 
 static void telemetryTxTask(void *parameters);
 static void telemetryRxTask(void *parameters);
-static void serialRxTask(void *parameters);
+static void telemRadioTxTask(void *parameters);
-static void radioTxTask(void *parameters);
+static void telemRadioRxTask(void *parameters);
-static void radioRxTask(void *parameters);
 static void PPMInputTask(void *parameters);
 static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length);
 static int32_t RadioSendHandler(uint8_t *buf, int32_t length);
@@ -133,11 +120,6 @@ static int32_t RadioComBridgeStart(void)
         // Check if this is the coordinator modem
         data->isCoordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
 
-        // We will not parse/send UAVTalk if any ports are configured as Serial (except for over the USB HID port).
-        data->parseUAVTalk  = ((oplinkSettings.MainPort != OPLINKSETTINGS_MAINPORT_SERIAL) &&
-                               (oplinkSettings.FlexiPort != OPLINKSETTINGS_FLEXIPORT_SERIAL) &&
-                               (oplinkSettings.VCPPort != OPLINKSETTINGS_VCPPORT_SERIAL));
-
         // Set the maximum radio RF power.
         switch (oplinkSettings.MaxRFPower) {
         case OPLINKSETTINGS_MAXRFPOWER_125:
@@ -186,34 +168,37 @@ static int32_t RadioComBridgeStart(void)
         ObjectPersistenceConnectCallback(&objectPersistenceUpdatedCb);
 
         // Start the primary tasks for receiving/sending UAVTalk packets from the GCS.
-        xTaskCreate(telemetryTxTask, "telemetryTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
+        // These tasks are always needed at least for configuration over HID.
-        xTaskCreate(telemetryRxTask, "telemetryRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle));
+        xTaskCreate(telemetryTxTask, "telemetryTxTask", TELEM_STACK_SIZE_WORDS, NULL, TASK_PRIORITY, &(data->telemetryTxTaskHandle));
-        if (PIOS_PPM_RECEIVER != 0) {
+        xTaskCreate(telemetryRxTask, "telemetryRxTask", TELEM_STACK_SIZE_WORDS, NULL, TASK_PRIORITY, &(data->telemetryRxTaskHandle));
-            xTaskCreate(PPMInputTask, "PPMInputTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->PPMInputTaskHandle));
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMETRYTX)
-#ifdef PIOS_INCLUDE_WDG
+        PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
+#endif
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMETRYRX)
+        PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
+#endif
+        // Start the tasks for sending/receiving telemetry over a radio link if a telemetry (GCS) link configured.
+        if (PIOS_COM_GCS_OUT) {
+            xTaskCreate(telemRadioTxTask, "telemRadioTxTask", TELEM_STACK_SIZE_WORDS, NULL, TASK_PRIORITY, &(data->telemRadioTxTaskHandle));
+            xTaskCreate(telemRadioRxTask, "telemRadioRxTask", TELEM_STACK_SIZE_WORDS, NULL, TASK_PRIORITY, &(data->telemRadioRxTaskHandle));
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMRADIOTX)
+            PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMRADIOTX);
+#endif
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMRADIORX)
+            PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMRADIORX);
+#endif
+        }
+
+        // Start the task for reading and processing PPM data if it's configured.
+        if (PIOS_PPM_RECEIVER) {
+            xTaskCreate(PPMInputTask, "PPMInputTask", PPM_STACK_SIZE_WORDS, NULL, TASK_PRIORITY, &(data->PPMInputTaskHandle));
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_PPMINPUT)
             PIOS_WDG_RegisterFlag(PIOS_WDG_PPMINPUT);
 #endif
         }
-        if (!data->parseUAVTalk) {
-            // If the user wants raw serial communication, we need to spawn another thread to handle it.
-            xTaskCreate(serialRxTask, "serialRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->serialRxTaskHandle));
-#ifdef PIOS_INCLUDE_WDG
-            PIOS_WDG_RegisterFlag(PIOS_WDG_SERIALRX);
-#endif
-        }
-        xTaskCreate(radioTxTask, "radioTxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioTxTaskHandle));
-        xTaskCreate(radioRxTask, "radioRxTask", STACK_SIZE_BYTES, NULL, TASK_PRIORITY, &(data->radioRxTaskHandle));
 
-        // Register the watchdog timers.
-#ifdef PIOS_INCLUDE_WDG
-        PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYTX);
-        PIOS_WDG_RegisterFlag(PIOS_WDG_TELEMETRYRX);
-        PIOS_WDG_RegisterFlag(PIOS_WDG_RADIOTX);
-        PIOS_WDG_RegisterFlag(PIOS_WDG_RADIORX);
-#endif
         return 0;
     }
-
     return -1;
 }
 
@@ -248,10 +233,6 @@ static int32_t RadioComBridgeInitialize(void)
     data->telemetryTxRetries = 0;
     data->radioTxRetries     = 0;
 
-    data->parseUAVTalk = true;
-    data->comSpeed     = OPLINKSETTINGS_COMSPEED_9600;
-    PIOS_COM_RADIO     = PIOS_COM_RFM22B;
-
     return 0;
 }
 MODULE_INITCALL(RadioComBridgeInitialize, RadioComBridgeStart);
@@ -323,9 +304,48 @@ static void updateRadioComBridgeStats()
 }
 
 /**
- * @brief Telemetry transmit task, regular priority
+ * @brief Reads the PPM input device and sends out OPLinkReceiver objects.
  *
- * @param[in] parameters  The task parameters
+ * @param[in] parameters  The task parameters (unused)
+ */
+static void PPMInputTask(__attribute__((unused)) void *parameters)
+{
+    xSemaphoreHandle sem = PIOS_RCVR_GetSemaphore(PIOS_PPM_RECEIVER, 1);
+    int16_t channels[RFM22B_PPM_NUM_CHANNELS];
+
+    while (1) {
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_PPMINPUT)
+        PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
+#endif
+
+        // Wait for the receiver semaphore.
+        if (xSemaphoreTake(sem, PPM_INPUT_TIMEOUT) == pdTRUE) {
+            // Read the receiver inputs.
+            for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
+                channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
+            }
+        } else {
+            // Failsafe
+            for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
+                channels[i] = PIOS_RCVR_INVALID;
+            }
+        }
+
+        // Pass the channel values to the radio device.
+        PIOS_RFM22B_PPMSet(pios_rfm22b_id, channels, RFM22B_PPM_NUM_CHANNELS);
+    }
+}
+
+
+/****************************************************************************
+* Telemetry tasks and functions
+****************************************************************************/
+
+/**
+ * @brief Receives events on the Radio->GCS telemetry stream and sends
+ *        the requested object(s) to the GCS.
+ *
+ * @param[in] parameters  None.
  */
 static void telemetryTxTask(__attribute__((unused)) void *parameters)
 {
@@ -333,7 +353,7 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
 
     // Loop forever
     while (1) {
-#ifdef PIOS_INCLUDE_WDG
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMETRYTX)
         PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRYTX);
 #endif
         // Wait for queue message
@@ -357,16 +377,17 @@ static void telemetryTxTask(__attribute__((unused)) void *parameters)
 }
 
 /**
- * @brief Radio tx task.  Receive data packets from the com port and send to the radio.
+ * @brief Receives events on the GCS->Radio telemetry stream and sends
+ *        the requested object(s) over the radio telenetry stream.
  *
- * @param[in] parameters  The task parameters
+ * @param[in] parameters  none.
  */
-static void radioTxTask(__attribute__((unused)) void *parameters)
+static void telemRadioTxTask(__attribute__((unused)) void *parameters)
 {
     // Task loop
     while (1) {
-#ifdef PIOS_INCLUDE_WDG
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMRADIOTX)
-        PIOS_WDG_UpdateFlag(PIOS_WDG_RADIOTX);
+        PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMRADIOTX);
 #endif
 
         // Process the radio event queue, sending UAVObjects over the radio link as necessary.
@@ -391,34 +412,24 @@ static void radioTxTask(__attribute__((unused)) void *parameters)
 }
 
 /**
- * @brief Radio rx task.  Receive data packets from the radio and pass them on.
+ * @brief Reads data from the radio telemetry port and processes it
+ *        through the Radio->GCS telemetry stream.
  *
  * @param[in] parameters  The task parameters
  */
-static void radioRxTask(__attribute__((unused)) void *parameters)
+static void telemRadioRxTask(__attribute__((unused)) void *parameters)
 {
     // Task loop
     while (1) {
-#ifdef PIOS_INCLUDE_WDG
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMRADIORX)
-        PIOS_WDG_UpdateFlag(PIOS_WDG_RADIORX);
+        PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMRADIORX);
 #endif
-        if (PIOS_COM_RADIO) {
+        if (PIOS_COM_GCS_OUT) {
             uint8_t serial_data[16];
-            uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_RADIO, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
+            uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(PIOS_COM_GCS_OUT, serial_data, sizeof(serial_data), MAX_PORT_DELAY);
             if (bytes_to_process > 0) {
-                if (data->parseUAVTalk) {
+                // Pass the data through the UAVTalk parser.
-                    // Pass the data through the UAVTalk parser.
+                ProcessRadioStream(data->radioUAVTalkCon, data->telemUAVTalkCon, serial_data, bytes_to_process);
-                    ProcessRadioStream(data->radioUAVTalkCon, data->telemUAVTalkCon, serial_data, bytes_to_process);
-                } else if (PIOS_COM_TELEMETRY) {
-                    // Send the data straight to the telemetry port.
-                    // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
-                    // It is the caller responsibility to retry in such cases...
-                    int32_t ret   = -2;
-                    uint8_t count = 5;
-                    while (count-- > 0 && ret < -1) {
-                        ret = PIOS_COM_SendBufferNonBlocking(PIOS_COM_TELEMETRY, serial_data, bytes_to_process);
-                    }
-                }
             }
         } else {
             vTaskDelay(5);
@@ -427,7 +438,8 @@ static void radioRxTask(__attribute__((unused)) void *parameters)
 }
 
 /**
- * @brief Receive telemetry from the USB/COM port.
+ * @brief Reads data from the GCS telemetry port and processes it
+ *        through the GCS->Radio telemetry stream.
  *
  * @param[in] parameters  The task parameters
  */
@@ -435,14 +447,15 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
 {
     // Task loop
     while (1) {
-        uint32_t inputPort = data->parseUAVTalk ? PIOS_COM_TELEMETRY : 0;
+        // uint32_t inputPort = data->parseUAVTalk ? PIOS_COM_TELEMETRY : 0;
-#ifdef PIOS_INCLUDE_WDG
+        uint32_t inputPort = PIOS_COM_GCS;
+#if defined(PIOS_INCLUDE_WDG) && defined(PIOS_WDG_TELEMETRYRX)
         PIOS_WDG_UpdateFlag(PIOS_WDG_TELEMETRYRX);
 #endif
 #if defined(PIOS_INCLUDE_USB)
         // Determine output port (USB takes priority over telemetry port)
-        if (PIOS_USB_CheckAvailable(0) && PIOS_COM_TELEM_USB_HID) {
+        if (PIOS_USB_CheckAvailable(0) && PIOS_COM_HID) {
-            inputPort = PIOS_COM_TELEM_USB_HID;
+            inputPort = PIOS_COM_HID;
         }
 #endif /* PIOS_INCLUDE_USB */
         if (inputPort) {
@@ -458,73 +471,7 @@ static void telemetryRxTask(__attribute__((unused)) void *parameters)
 }
 
 /**
- * @brief Reads the PPM input device and sends out OPLinkReceiver objects.
+ * @brief Send data from the Radio->GCS telemetry stream to the GCS port.
- *
- * @param[in] parameters  The task parameters (unused)
- */
-static void PPMInputTask(__attribute__((unused)) void *parameters)
-{
-    xSemaphoreHandle sem = PIOS_RCVR_GetSemaphore(PIOS_PPM_RECEIVER, 1);
-    int16_t channels[RFM22B_PPM_NUM_CHANNELS];
-
-    while (1) {
- #ifdef PIOS_INCLUDE_WDG
-        PIOS_WDG_UpdateFlag(PIOS_WDG_PPMINPUT);
- #endif
-
-        // Wait for the receiver semaphore.
-        if (xSemaphoreTake(sem, PPM_INPUT_TIMEOUT) == pdTRUE) {
-            // Read the receiver inputs.
-            for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
-                channels[i] = PIOS_RCVR_Read(PIOS_PPM_RECEIVER, i + 1);
-            }
-        } else {
-            // Failsafe
-            for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
-                channels[i] = PIOS_RCVR_INVALID;
-            }
-        }
-
-        // Pass the channel values to the radio device.
-        PIOS_RFM22B_PPMSet(pios_rfm22b_id, channels, RFM22B_PPM_NUM_CHANNELS);
-    }
-}
-
-/**
- * @brief Receive raw serial data from the USB/COM port.
- *
- * @param[in] parameters  The task parameters
- */
-static void serialRxTask(__attribute__((unused)) void *parameters)
-{
-    // Task loop
-    while (1) {
-        uint32_t inputPort = PIOS_COM_TELEMETRY;
-#ifdef PIOS_INCLUDE_WDG
-        PIOS_WDG_UpdateFlag(PIOS_WDG_SERIALRX);
-#endif
-        if (inputPort && PIOS_COM_RADIO) {
-            // Receive some data.
-            uint16_t bytes_to_process = PIOS_COM_ReceiveBuffer(inputPort, data->serialRxBuf, sizeof(data->serialRxBuf), MAX_PORT_DELAY);
-
-            if (bytes_to_process > 0) {
-                // Send the data over the radio link.
-                // Following call can fail with -2 error code (buffer full) or -3 error code (could not acquire send mutex)
-                // It is the caller responsibility to retry in such cases...
-                int32_t ret   = -2;
-                uint8_t count = 5;
-                while (count-- > 0 && ret < -1) {
-                    ret = PIOS_COM_SendBufferNonBlocking(PIOS_COM_RADIO, data->serialRxBuf, bytes_to_process);
-                }
-            }
-        } else {
-            vTaskDelay(5);
-        }
-    }
-}
-
-/**
- * @brief Transmit data buffer to the com port.
  *
  * @param[in] buf Data buffer to send
  * @param[in] length Length of buffer
@@ -534,12 +481,12 @@ static void serialRxTask(__attribute__((unused)) void *parameters)
 static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
 {
     int32_t ret;
-    uint32_t outputPort = data->parseUAVTalk ? PIOS_COM_TELEMETRY : 0;
+    uint32_t outputPort = PIOS_COM_GCS;
 
 #if defined(PIOS_INCLUDE_USB)
     // Determine output port (USB takes priority over telemetry port)
-    if (PIOS_COM_TELEM_USB_HID && PIOS_COM_Available(PIOS_COM_TELEM_USB_HID)) {
+    if (PIOS_COM_HID && PIOS_COM_Available(PIOS_COM_HID)) {
-        outputPort = PIOS_COM_TELEM_USB_HID;
+        outputPort = PIOS_COM_HID;
     }
 #endif /* PIOS_INCLUDE_USB */
     if (outputPort) {
@@ -557,7 +504,7 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
 }
 
 /**
- * Transmit data buffer to the com port.
+ * @brief Send data from the GCS telemetry stream to the Radio->GCS port.
  *
  * @param[in] buf Data buffer to send
  * @param[in] length Length of buffer
@@ -566,10 +513,7 @@ static int32_t UAVTalkSendHandler(uint8_t *buf, int32_t length)
  */
 static int32_t RadioSendHandler(uint8_t *buf, int32_t length)
 {
-    if (!data->parseUAVTalk) {
+    uint32_t outputPort = PIOS_COM_GCS_OUT;
-        return length;
-    }
-    uint32_t outputPort = PIOS_COM_RADIO;
 
     // Don't send any data unless the radio port is available.
     if (outputPort && PIOS_COM_Available(outputPort)) {

flight/pios/common/pios_com.c

@@ -808,6 +808,44 @@ int32_t PIOS_COM_RegisterAvailableCallback(uint32_t com_id, pios_com_callback_av
     return 0;
 }
 
+/*
+ * Callback used to pass data from one ocm port to another in PIOS_COM_LinkComPare.
+ * \param[in] context     The "to" com port
+ * \param[in] buf         The data buffer
+ * \param[in] buf_len     The number of bytes received
+ * \param[in] headroom    Not used
+ * \param[in] task_woken  Not used
+ */
+static uint16_t PIOS_COM_LinkComPairRxCallback(uint32_t context, uint8_t *buf, uint16_t buf_len, __attribute__((unused)) uint16_t *headroom, __attribute__((unused)) bool *task_woken)
+{
+    int32_t sent = PIOS_COM_SendBufferNonBlocking(context, buf, buf_len);
+
+    if (sent > 0) {
+        return sent;
+    }
+    return 0;
+}
+
+/*
+ * Link a pair of com ports so that any data arriving on one is sent out the other.
+ * \param[in] com1_id  The first com port
+ * \param[in] com2_id  The second com port
+ */
+void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_line, bool link_baud_rate)
+{
+    PIOS_COM_ASYNC_RegisterRxCallback(com1_id, PIOS_COM_LinkComPairRxCallback, com2_id);
+    PIOS_COM_ASYNC_RegisterRxCallback(com2_id, PIOS_COM_LinkComPairRxCallback, com1_id);
+    // Optionally link the control like and baudrate changes between the two.
+    if (link_ctrl_line) {
+        PIOS_COM_RegisterCtrlLineCallback(com1_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com2_id);
+        PIOS_COM_RegisterCtrlLineCallback(com2_id, (pios_com_callback_ctrl_line)PIOS_COM_SetCtrlLine, com1_id);
+    }
+    if (link_baud_rate) {
+        PIOS_COM_RegisterBaudRateCallback(com1_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com2_id);
+        PIOS_COM_RegisterBaudRateCallback(com2_id, (pios_com_callback_baud_rate)PIOS_COM_ChangeBaud, com1_id);
+    }
+}
+
 #endif /* PIOS_INCLUDE_COM */
 
 /**

flight/pios/common/pios_rfm22b.c

@@ -808,9 +808,8 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len)
         return false;
     }
 
-    rfm22b_dev->tx_packet_handle     = p;
+    rfm22b_dev->tx_packet_handle   = p;
-    rfm22b_dev->stats.tx_byte_count += len;
+    rfm22b_dev->packet_start_ticks = xTaskGetTickCount();
-    rfm22b_dev->packet_start_ticks   = xTaskGetTickCount();
     if (rfm22b_dev->packet_start_ticks == 0) {
         rfm22b_dev->packet_start_ticks = 1;
     }
@@ -873,8 +872,6 @@ bool PIOS_RFM22B_TransmitPacket(uint32_t rfm22b_id, uint8_t *p, uint8_t len)
     // We're in Tx mode.
     rfm22b_dev->rfm22b_state = RFM22B_STATE_TX_MODE;
 
-    TX_LED_ON;
-
 #ifdef PIOS_RFM22B_DEBUG_ON_TELEM
     D1_LED_ON;
 #endif
@@ -1925,6 +1922,12 @@ static enum pios_radio_event radio_txStart(struct pios_rfm22b_dev *radio_dev)
         len += RS_ECC_NPARITY;
     }
 
+    // Only count the packet if it contains valid data.
+    if (radio_dev->ppm_only_mode || (len > RS_ECC_NPARITY)) {
+        TX_LED_ON;
+        radio_dev->stats.tx_byte_count += len;
+    }
+
     // Transmit the packet.
     PIOS_RFM22B_TransmitPacket((uint32_t)radio_dev, p, len);
 

flight/pios/inc/pios_com.h

@@ -115,6 +115,8 @@ extern int32_t PIOS_COM_ASYNC_RxStart(uint32_t id, uint16_t rx_bytes_avail);
 extern int32_t PIOS_COM_ASYNC_RegisterRxCallback(uint32_t id, pios_com_callback rx_in_cb, uint32_t context);
 extern int32_t PIOS_COM_ASYNC_RegisterTxCallback(uint32_t id, pios_com_callback tx_out_cb, uint32_t context);
 
+extern void PIOS_COM_LinkComPair(uint32_t com1_id, uint32_t com2_id, bool link_ctrl_line, bool link_baud_rate);
+
 #define COM_AVAILABLE_NONE (0)
 #define COM_AVAILABLE_RX   (1 << 0)
 #define COM_AVAILABLE_TX   (1 << 1)

flight/targets/boards/oplinkmini/board_hw_defs.c

@@ -691,7 +691,7 @@ const struct pios_ppm_out_cfg pios_flexi_ppm_out_cfg = {
 /*
  * SERIAL USART
  */
-static const struct pios_usart_cfg pios_usart_serial_cfg = {
+static const struct pios_usart_cfg pios_usart_main_cfg = {
     .regs = USART1,
     .init = {
         .USART_BaudRate   = 57600,
@@ -727,7 +727,7 @@ static const struct pios_usart_cfg pios_usart_serial_cfg = {
     },
 };
 
-static const struct pios_usart_cfg pios_usart_telem_flexi_cfg = {
+static const struct pios_usart_cfg pios_usart_flexi_cfg = {
     .regs = USART3,
     .init = {
         .USART_BaudRate   = 57600,

flight/targets/boards/oplinkmini/bootloader/main.c

@@ -56,6 +56,8 @@ uint32_t sweep_steps2 = 100; // * 5 mS -> 500 mS
 ////////////////////////////////////////
 uint8_t tempcount = 0;
 
+extern uint32_t pios_com_telem_usb_id;
+
 /* Extern variables ----------------------------------------------------------*/
 DFUStates DeviceState;
 int16_t status           = 0;
@@ -211,7 +213,7 @@ uint32_t LedPWM(uint32_t pwm_period, uint32_t pwm_sweep_steps, uint32_t count)
 
 uint8_t processRX()
 {
-    if (PIOS_COM_MSG_Receive(PIOS_COM_TELEM_USB, mReceive_Buffer, sizeof(mReceive_Buffer))) {
+    if (PIOS_COM_MSG_Receive(pios_com_telem_usb_id, mReceive_Buffer, sizeof(mReceive_Buffer))) {
         processComand(mReceive_Buffer);
     }
     return TRUE;
@@ -219,5 +221,5 @@ uint8_t processRX()
 
 int32_t platform_senddata(const uint8_t *msg, uint16_t msg_len)
 {
-    return PIOS_COM_MSG_Send(PIOS_COM_TELEM_USB, msg, msg_len);
+    return PIOS_COM_MSG_Send(pios_com_telem_usb_id, msg, msg_len);
 }

flight/targets/boards/oplinkmini/firmware/Makefile

@@ -31,7 +31,7 @@ override USE_DSP_LIB := NO
 MODULES += RadioComBridge
 
 # List of optional modules to include
-OPTMODULES = ComUsbBridge
+OPTMODULES =
 
 # List C source files here (C dependencies are automatically generated).
 # Use file-extension c for "c-only"-files

flight/targets/boards/oplinkmini/firmware/inc/pios_config.h

@@ -146,26 +146,20 @@
 /* #define PIOS_QUATERNION_STABILIZATION */
 
 /* Performance counters */
-#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD  1995998
+#define IDLE_COUNTS_PER_SEC_AT_NO_LOAD 1995998
 
 /* Alarm Thresholds */
-#define HEAP_LIMIT_WARNING              220
+#define HEAP_LIMIT_WARNING             220
-#define HEAP_LIMIT_CRITICAL             40
+#define HEAP_LIMIT_CRITICAL            40
-#define IRQSTACK_LIMIT_WARNING          100
+#define IRQSTACK_LIMIT_WARNING         100
-#define IRQSTACK_LIMIT_CRITICAL         60
+#define IRQSTACK_LIMIT_CRITICAL        60
-#define CPULOAD_LIMIT_WARNING           85
+#define CPULOAD_LIMIT_WARNING          85
-#define CPULOAD_LIMIT_CRITICAL          95
+#define CPULOAD_LIMIT_CRITICAL         95
 
 /* Task stack sizes */
-#define PIOS_ACTUATOR_STACK_SIZE        1020
-#define PIOS_MANUAL_STACK_SIZE          724
-#define PIOS_SYSTEM_STACK_SIZE          460
-#define PIOS_STABILIZATION_STACK_SIZE   524
-#define PIOS_TELEM_STACK_SIZE           800
-#define PIOS_EVENTDISPATCHER_STACK_SIZE 130
 
 /* This can't be too high to stop eventdispatcher thread overflowing */
-#define PIOS_EVENTDISAPTCHER_QUEUE      10
+#define PIOS_EVENTDISAPTCHER_QUEUE     10
 
 #endif /* PIOS_CONFIG_H */
 /**

flight/targets/boards/oplinkmini/firmware/pios_board.c

@@ -48,43 +48,44 @@
  */
 #include "../board_hw_defs.c"
 
-#define PIOS_COM_TELEM_USB_RX_BUF_LEN 256
+#define PIOS_COM_TELEM_USB_RX_BUF_LEN 128
-#define PIOS_COM_TELEM_USB_TX_BUF_LEN 256
+#define PIOS_COM_TELEM_USB_TX_BUF_LEN 128
 
-#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 256
+#define PIOS_COM_TELEM_VCP_RX_BUF_LEN 128
-#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 256
+#define PIOS_COM_TELEM_VCP_TX_BUF_LEN 128
 
-#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 256
+#define PIOS_COM_RFM22B_RF_RX_BUF_LEN 128
-#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 256
+#define PIOS_COM_RFM22B_RF_TX_BUF_LEN 128
 
-#define PIOS_COM_TELEM_RX_BUF_LEN     256
+#define PIOS_COM_TELEM_RX_BUF_LEN     128
-#define PIOS_COM_TELEM_TX_BUF_LEN     256
+#define PIOS_COM_TELEM_TX_BUF_LEN     128
 
-uint32_t pios_com_telem_usb_id = 0;
+uint32_t pios_com_hid_id     = 0;
-uint32_t pios_com_telem_vcp_id = 0;
+uint32_t pios_com_vcp_id     = 0;
-uint32_t pios_com_telem_uart_main_id = 0;
+uint32_t pios_com_main_id    = 0;
-uint32_t pios_com_telem_uart_flexi_id = 0;
+uint32_t pios_com_flexi_id   = 0;
-uint32_t pios_com_telemetry_id = 0;
+uint32_t pios_com_bridge_id  = 0;
-uint32_t pios_com_bridge_id    = 0;
+uint32_t pios_com_gcs_id     = 0;
-uint32_t pios_com_vcp_id  = 0;
+uint32_t pios_com_gcs_out_id = 0;
 #if defined(PIOS_INCLUDE_PPM)
-uint32_t pios_ppm_rcvr_id = 0;
+uint32_t pios_ppm_rcvr_id    = 0;
 #endif
 #if defined(PIOS_INCLUDE_PPM_OUT)
-uint32_t pios_ppm_out_id  = 0;
+uint32_t pios_ppm_out_id     = 0;
 #endif
 #if defined(PIOS_INCLUDE_RFM22B)
 #include <pios_rfm22b_com.h>
-uint32_t pios_rfm22b_id     = 0;
+uint32_t pios_rfm22b_id = 0;
-uint32_t pios_com_rfm22b_id = 0;
+uint32_t pios_com_pri_radio_id     = 0;
-uint32_t pios_com_radio_id  = 0;
+uint32_t pios_com_aux_radio_id     = 0;
+uint32_t pios_com_pri_radio_out_id = 0;
+uint32_t pios_com_aux_radio_out_id = 0;
 #endif
 
-
 uintptr_t pios_uavo_settings_fs_id;
-uintptr_t pios_user_fs_id = 0;
+uintptr_t pios_user_fs_id  = 0;
 
-uint8_t servo_count = 0;
+static uint8_t servo_count = 0;
 
 /*
  * Setup a com port based on the passed cfg, driver and buffer sizes.
@@ -188,6 +189,22 @@ void PIOS_Board_Init(void)
     OPLinkStatusInitialize();
 #endif /* PIOS_INCLUDE_RFM22B */
 
+    /* Retrieve the settings object. */
+    OPLinkSettingsData oplinkSettings;
+    OPLinkSettingsGet(&oplinkSettings);
+
+    /* Determine the modem protocols */
+    bool is_coordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
+    bool openlrs     = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPENLRS);
+    bool ppm_only    = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
+    bool data_mode   = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATA) ||
+                        (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
+    bool is_enabled  = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) &&
+                        ((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs));
+    bool ppm_mode    = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
+                        (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
+    bool servo_main  = false;
+    bool servo_flexi = false;
 
 #if defined(PIOS_INCLUDE_TIM)
     /* Set up pulse timers */
@@ -229,7 +246,7 @@ void PIOS_Board_Init(void)
         uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_USB_TX_BUF_LEN);
         PIOS_Assert(rx_buffer);
         PIOS_Assert(tx_buffer);
-        if (PIOS_COM_Init(&pios_com_telem_usb_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
+        if (PIOS_COM_Init(&pios_com_hid_id, &pios_usb_hid_com_driver, pios_usb_hid_id,
                           rx_buffer, PIOS_COM_TELEM_USB_RX_BUF_LEN,
                           tx_buffer, PIOS_COM_TELEM_USB_TX_BUF_LEN)) {
             PIOS_Assert(0);
@@ -247,7 +264,7 @@ void PIOS_Board_Init(void)
         uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_VCP_TX_BUF_LEN);
         PIOS_Assert(rx_buffer);
         PIOS_Assert(tx_buffer);
-        if (PIOS_COM_Init(&pios_com_telem_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
+        if (PIOS_COM_Init(&pios_com_vcp_id, &pios_usb_cdc_com_driver, pios_usb_cdc_id,
                           rx_buffer, PIOS_COM_TELEM_VCP_RX_BUF_LEN,
                           tx_buffer, PIOS_COM_TELEM_VCP_TX_BUF_LEN)) {
             PIOS_Assert(0);
@@ -256,40 +273,40 @@ void PIOS_Board_Init(void)
 #endif
 
     // Configure the main port
-    OPLinkSettingsData oplinkSettings;
+    uint32_t mainComSpeed = 0;
-    OPLinkSettingsGet(&oplinkSettings);
+    switch (oplinkSettings.MainComSpeed) {
-    bool is_coordinator = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPLINKCOORDINATOR);
+    case OPLINKSETTINGS_MAINCOMSPEED_4800:
-    bool openlrs     = (oplinkSettings.Protocol == OPLINKSETTINGS_PROTOCOL_OPENLRS);
+        mainComSpeed = 4800;
-    bool ppm_only    = (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL);
+        break;
-    bool data_mode   = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATA) ||
+    case OPLINKSETTINGS_MAINCOMSPEED_9600:
-                        (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
+        mainComSpeed = 9600;
-    bool is_enabled  = ((oplinkSettings.Protocol != OPLINKSETTINGS_PROTOCOL_DISABLED) &&
+        break;
-                        ((oplinkSettings.MaxRFPower != OPLINKSETTINGS_MAXRFPOWER_0) || openlrs));
+    case OPLINKSETTINGS_MAINCOMSPEED_19200:
-    bool ppm_mode    = ((oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_CONTROL) ||
+        mainComSpeed = 19200;
-                        (oplinkSettings.LinkType == OPLINKSETTINGS_LINKTYPE_DATAANDCONTROL));
+        break;
-    bool servo_main  = false;
+    case OPLINKSETTINGS_MAINCOMSPEED_38400:
-    bool servo_flexi = false;
+        mainComSpeed = 38400;
+        break;
+    case OPLINKSETTINGS_MAINCOMSPEED_57600:
+        mainComSpeed = 57600;
+        break;
+    case OPLINKSETTINGS_MAINCOMSPEED_115200:
+        mainComSpeed = 115200;
+        break;
+    case OPLINKSETTINGS_MAINCOMSPEED_DISABLED:
+        break;
+    }
     switch (oplinkSettings.MainPort) {
     case OPLINKSETTINGS_MAINPORT_TELEMETRY:
     case OPLINKSETTINGS_MAINPORT_SERIAL:
-    {
-        /* Configure the main port for uart serial */
 #ifndef PIOS_RFM22B_DEBUG_ON_TELEM
-        PIOS_Board_configure_com(&pios_usart_serial_cfg,
+        PIOS_Board_configure_com(&pios_usart_main_cfg,
                                  PIOS_COM_TELEM_RX_BUF_LEN, PIOS_COM_TELEM_TX_BUF_LEN,
-                                 &pios_usart_com_driver, &pios_com_telem_uart_main_id);
+                                 &pios_usart_com_driver, &pios_com_main_id);
-
+        PIOS_COM_ChangeBaud(pios_com_main_id, mainComSpeed);
-        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_MAIN;
+#endif /* !PIOS_RFM22B_DEBUG_ON_TELEM */
-#endif
-        break;
-    }
-    case OPLINKSETTINGS_MAINPORT_COMBRIDGE:
-        PIOS_Board_configure_com(&pios_usart_serial_cfg,
-                                 PIOS_COM_TELEM_RX_BUF_LEN, PIOS_COM_TELEM_TX_BUF_LEN,
-                                 &pios_usart_com_driver, &pios_com_bridge_id);
         break;
     case OPLINKSETTINGS_MAINPORT_PPM:
-    {
 #if defined(PIOS_INCLUDE_PPM)
         /* PPM input is configured on the coordinator modem and output on the remote modem. */
         if (is_coordinator) {
@@ -308,35 +325,47 @@ void PIOS_Board_Init(void)
 #endif /* PIOS_INCLUDE_PPM_OUT */
 #endif /* PIOS_INCLUDE_PPM */
         break;
-    }
     case OPLINKSETTINGS_MAINPORT_PWM:
         servo_main = true;
-        break;
+    default:
-    case OPLINKSETTINGS_MAINPORT_DISABLED:
         break;
     }
 
     // Configure the flexi port
+    uint32_t flexiComSpeed = 0;
+    switch (oplinkSettings.FlexiComSpeed) {
+    case OPLINKSETTINGS_FLEXICOMSPEED_4800:
+        flexiComSpeed = 4800;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_9600:
+        flexiComSpeed = 9600;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_19200:
+        flexiComSpeed = 19200;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_38400:
+        flexiComSpeed = 38400;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_57600:
+        flexiComSpeed = 57600;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_115200:
+        flexiComSpeed = 115200;
+        break;
+    case OPLINKSETTINGS_FLEXICOMSPEED_DISABLED:
+        break;
+    }
     switch (oplinkSettings.FlexiPort) {
     case OPLINKSETTINGS_FLEXIPORT_TELEMETRY:
     case OPLINKSETTINGS_FLEXIPORT_SERIAL:
-    {
+#ifndef PIOS_RFM22B_DEBUG_ON_TELEM
-        /* Configure the flexi port as uart serial */
+        PIOS_Board_configure_com(&pios_usart_flexi_cfg,
-        PIOS_Board_configure_com(&pios_usart_telem_flexi_cfg,
                                  PIOS_COM_TELEM_RX_BUF_LEN, PIOS_COM_TELEM_TX_BUF_LEN,
-                                 &pios_usart_com_driver,
+                                 &pios_usart_com_driver, &pios_com_flexi_id);
-                                 &pios_com_telem_uart_flexi_id);
+        PIOS_COM_ChangeBaud(pios_com_flexi_id, flexiComSpeed);
-        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_UART_FLEXI;
+#endif /* !PIOS_RFM22B_DEBUG_ON_TELEM */
-        break;
-    }
-    case OPLINKSETTINGS_FLEXIPORT_COMBRIDGE:
-        PIOS_Board_configure_com(&pios_usart_telem_flexi_cfg,
-                                 PIOS_COM_TELEM_RX_BUF_LEN, PIOS_COM_TELEM_TX_BUF_LEN,
-                                 &pios_usart_com_driver,
-                                 &pios_com_bridge_id);
         break;
     case OPLINKSETTINGS_FLEXIPORT_PPM:
-    {
 #if defined(PIOS_INCLUDE_PPM)
         /* PPM input is configured on the coordinator modem and output on the remote modem. */
         if (is_coordinator) {
@@ -346,31 +375,22 @@ void PIOS_Board_Init(void)
             if (PIOS_RCVR_Init(&pios_ppm_rcvr_id, &pios_ppm_rcvr_driver, pios_ppm_id)) {
                 PIOS_Assert(0);
             }
-        } else {
+        }
+        // For some reason, PPM output on the flexi port doesn't work.
+#if defined(PIOS_INCLUDE_PPM_OUT)
+        else {
             PIOS_PPM_Out_Init(&pios_ppm_out_id, &pios_flexi_ppm_out_cfg);
         }
+#endif /* PIOS_INCLUDE_PPM_OUT */
 #endif /* PIOS_INCLUDE_PPM */
         break;
-    }
     case OPLINKSETTINGS_FLEXIPORT_PWM:
         servo_flexi = true;
-        break;
+    default:
-    case OPLINKSETTINGS_FLEXIPORT_DISABLED:
-        break;
-    }
-
-    // Configure the USB VCP port
-    switch (oplinkSettings.VCPPort) {
-    case OPLINKSETTINGS_VCPPORT_SERIAL:
-        PIOS_COM_TELEMETRY = PIOS_COM_TELEM_USB_VCP;
-        break;
-    case OPLINKSETTINGS_VCPPORT_COMBRIDGE:
-        PIOS_COM_VCP = PIOS_COM_TELEM_USB_VCP;
-        break;
-    case OPLINKSETTINGS_VCPPORT_DISABLED:
         break;
     }
 
+    /* Configure the PWM servo outputs. */
 #if defined(PIOS_INCLUDE_SERVO)
     if (servo_main) {
         if (servo_flexi) {
@@ -429,33 +449,53 @@ void PIOS_Board_Init(void)
             uint8_t *tx_buffer = (uint8_t *)pios_malloc(PIOS_COM_RFM22B_RF_TX_BUF_LEN);
             PIOS_Assert(rx_buffer);
             PIOS_Assert(tx_buffer);
-            if (PIOS_COM_Init(&pios_com_rfm22b_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
+            if (PIOS_COM_Init(&pios_com_pri_radio_id, &pios_rfm22b_com_driver, pios_rfm22b_id,
                               rx_buffer, PIOS_COM_RFM22B_RF_RX_BUF_LEN,
                               tx_buffer, PIOS_COM_RFM22B_RF_TX_BUF_LEN)) {
                 PIOS_Assert(0);
             }
 
-            // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
+            // Initialize the aux radio com interface
+            uint8_t *auxrx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RX_BUF_LEN);
+            uint8_t *auxtx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_TX_BUF_LEN);
+            PIOS_Assert(auxrx_buffer);
+            PIOS_Assert(auxtx_buffer);
+            if (PIOS_COM_Init(&pios_com_aux_radio_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
+                              auxrx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
+                              auxtx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
+                PIOS_Assert(0);
+            }
+
+            // Set the modem (over the air) datarate.
             enum rfm22b_datarate datarate = RFM22_datarate_64000;
-            switch (oplinkSettings.ComSpeed) {
+            switch (oplinkSettings.AirDataRate) {
-            case OPLINKSETTINGS_COMSPEED_4800:
+            case OPLINKSETTINGS_AIRDATARATE_9600:
                 datarate = RFM22_datarate_9600;
                 break;
-            case OPLINKSETTINGS_COMSPEED_9600:
+            case OPLINKSETTINGS_AIRDATARATE_19200:
                 datarate = RFM22_datarate_19200;
                 break;
-            case OPLINKSETTINGS_COMSPEED_19200:
+            case OPLINKSETTINGS_AIRDATARATE_32000:
                 datarate = RFM22_datarate_32000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_38400:
+            case OPLINKSETTINGS_AIRDATARATE_57600:
+                datarate = RFM22_datarate_57600;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_64000:
                 datarate = RFM22_datarate_64000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_57600:
+            case OPLINKSETTINGS_AIRDATARATE_100000:
                 datarate = RFM22_datarate_100000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_115200:
+            case OPLINKSETTINGS_AIRDATARATE_128000:
+                datarate = RFM22_datarate_128000;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_192000:
                 datarate = RFM22_datarate_192000;
                 break;
+            case OPLINKSETTINGS_AIRDATARATE_256000:
+                datarate = RFM22_datarate_256000;
+                break;
             }
 
             /* Set the modem Tx power level */
@@ -499,61 +539,92 @@ void PIOS_Board_Init(void)
             if (ppm_mode || (ppm_only && !is_coordinator)) {
                 PIOS_RFM22B_SetPPMCallback(pios_rfm22b_id, PIOS_Board_PPM_callback, 0);
             }
-
-            // Reinitialize the modem to affect the changes.
-            PIOS_RFM22B_Reinit(pios_rfm22b_id);
-            uint8_t oplinksettings_radioaux;
-            OPLinkSettingsRadioAuxStreamGet(&oplinksettings_radioaux);
-            switch (oplinksettings_radioaux) {
-            case OPLINKSETTINGS_RADIOAUXSTREAM_DISABLED:
-                break;
-            case OPLINKSETTINGS_RADIOAUXSTREAM_COMBRIDGE:
-            {
-                uint8_t *auxrx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_RX_BUF_LEN);
-                uint8_t *auxtx_buffer = (uint8_t *)pios_malloc(PIOS_COM_TELEM_TX_BUF_LEN);
-                PIOS_Assert(auxrx_buffer);
-                PIOS_Assert(auxtx_buffer);
-                if (PIOS_COM_Init(&pios_com_bridge_id, &pios_rfm22b_aux_com_driver, pios_rfm22b_id,
-                                  auxrx_buffer, PIOS_COM_TELEM_RX_BUF_LEN,
-                                  auxtx_buffer, PIOS_COM_TELEM_TX_BUF_LEN)) {
-                    PIOS_Assert(0);
-                }
-            }
-            }
         } // openlrs
     } else {
         oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
     }
 
+    // Configure the primary radio stream destination.
+    switch (oplinkSettings.RadioPriStream) {
+    case OPLINKSETTINGS_RADIOPRISTREAM_DISABLED:
+        break;
+    case OPLINKSETTINGS_RADIOPRISTREAM_HID:
+        // HID is always connected to GCS
+        pios_com_gcs_id     = pios_com_hid_id;
+        pios_com_gcs_out_id = pios_com_pri_radio_id;
+        break;
+    case OPLINKSETTINGS_RADIOPRISTREAM_MAIN:
+        // Is the main port configured for telemetry (GCS)?
+        if (oplinkSettings.MainPort == OPLINKSETTINGS_MAINPORT_TELEMETRY) {
+            pios_com_gcs_id     = pios_com_main_id;
+            pios_com_gcs_out_id = pios_com_pri_radio_id;
+        } else {
+            PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_main_id, false, false);
+        }
+        break;
+    case OPLINKSETTINGS_RADIOPRISTREAM_FLEXI:
+        // Is the flexi port configured for telemetry (GCS)?
+        if (oplinkSettings.FlexiPort == OPLINKSETTINGS_FLEXIPORT_TELEMETRY) {
+            pios_com_gcs_id     = pios_com_flexi_id;
+            pios_com_gcs_out_id = pios_com_pri_radio_id;
+        } else {
+            PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_flexi_id, false, false);
+        }
+        break;
+    case OPLINKSETTINGS_RADIOPRISTREAM_VCP:
+        // VCP is never connected to GCS
+        PIOS_COM_LinkComPair(pios_com_pri_radio_id, pios_com_vcp_id, false, false);
+        break;
+    }
+
+    // Configure the Auxiliary radio stream destination.
+    switch (oplinkSettings.RadioAuxStream) {
+    case OPLINKSETTINGS_RADIOAUXSTREAM_DISABLED:
+        break;
+    case OPLINKSETTINGS_RADIOAUXSTREAM_HID:
+        // HID is always connected to GCS
+        pios_com_gcs_id     = pios_com_hid_id;
+        pios_com_gcs_out_id = pios_com_aux_radio_id;
+        break;
+    case OPLINKSETTINGS_RADIOAUXSTREAM_MAIN:
+        // Is the main port configured for telemetry (GCS)?
+        if (oplinkSettings.MainPort == OPLINKSETTINGS_MAINPORT_TELEMETRY) {
+            pios_com_gcs_id     = pios_com_main_id;
+            pios_com_gcs_out_id = pios_com_aux_radio_id;
+        } else {
+            PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_main_id, false, false);
+        }
+        break;
+    case OPLINKSETTINGS_RADIOAUXSTREAM_FLEXI:
+        // Is the flexi port configured for telemetry (GCS)?
+        if (oplinkSettings.FlexiPort == OPLINKSETTINGS_FLEXIPORT_TELEMETRY) {
+            pios_com_gcs_id     = pios_com_flexi_id;
+            pios_com_gcs_out_id = pios_com_aux_radio_id;
+        } else {
+            PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_flexi_id, false, false);
+        }
+        break;
+    case OPLINKSETTINGS_RADIOAUXSTREAM_VCP:
+        // VCP is never connected to GCS
+        PIOS_COM_LinkComPair(pios_com_aux_radio_id, pios_com_vcp_id, false, false);
+        break;
+    }
+
+    // Configure the VCP COM bridge
+    switch (oplinkSettings.VCPBridge) {
+    case OPLINKSETTINGS_VCPBRIDGE_MAIN:
+        PIOS_COM_LinkComPair(pios_com_vcp_id, pios_com_main_id, true, true);
+        break;
+    case OPLINKSETTINGS_VCPBRIDGE_FLEXI:
+        PIOS_COM_LinkComPair(pios_com_vcp_id, pios_com_flexi_id, true, true);
+        break;
+    case OPLINKSETTINGS_VCPBRIDGE_DISABLED:
+        break;
+    }
+
     // Update the object
     OPLinkStatusSet(&oplinkStatus);
 
-    // Update the com baud rate.
-    uint32_t comBaud = 9600;
-    switch (oplinkSettings.ComSpeed) {
-    case OPLINKSETTINGS_COMSPEED_4800:
-        comBaud = 4800;
-        break;
-    case OPLINKSETTINGS_COMSPEED_9600:
-        comBaud = 9600;
-        break;
-    case OPLINKSETTINGS_COMSPEED_19200:
-        comBaud = 19200;
-        break;
-    case OPLINKSETTINGS_COMSPEED_38400:
-        comBaud = 38400;
-        break;
-    case OPLINKSETTINGS_COMSPEED_57600:
-        comBaud = 57600;
-        break;
-    case OPLINKSETTINGS_COMSPEED_115200:
-        comBaud = 115200;
-        break;
-    }
-    if (PIOS_COM_TELEMETRY) {
-        PIOS_COM_ChangeBaud(PIOS_COM_TELEMETRY, comBaud);
-    }
-
     /* Remap AFIO pin */
     GPIO_PinRemapConfig(GPIO_Remap_SWJ_NoJTRST, ENABLE);
 

flight/targets/boards/oplinkmini/pios_board.h

@@ -73,11 +73,10 @@
 #define PIOS_WDG_REGISTER     BKP_DR4
 #define PIOS_WDG_TELEMETRYTX  0x0001
 #define PIOS_WDG_TELEMETRYRX  0x0002
-#define PIOS_WDG_RADIOTX      0x0004
+#define PIOS_WDG_TELEMRADIOTX 0x0004
-#define PIOS_WDG_RADIORX      0x0008
+#define PIOS_WDG_TELEMRADIORX 0x0008
 #define PIOS_WDG_RFM22B       0x000f
 #define PIOS_WDG_PPMINPUT     0x0010
-#define PIOS_WDG_SERIALRX     0x0020
 
 // ------------------------
 // TELEMETRY
@@ -174,30 +173,40 @@ extern uint32_t pios_i2c_flexi_adapter_id;
 // -------------------------
 #define PIOS_COM_MAX_DEVS 5
 
-extern uint32_t pios_com_telem_usb_id;
+// The direct com ports
-extern uint32_t pios_com_telem_vcp_id;
+extern uint32_t pios_com_hid_id;
-extern uint32_t pios_com_telem_uart_main_id;
-extern uint32_t pios_com_telem_uart_flexi_id;
-extern uint32_t pios_com_telemetry_id;
-extern uint32_t pios_com_rfm22b_id;
-extern uint32_t pios_com_radio_id;
-extern uint32_t pios_com_bridge_id;
 extern uint32_t pios_com_vcp_id;
+extern uint32_t pios_com_main_id;
+extern uint32_t pios_com_flexi_id;
+extern uint32_t pios_com_pri_radio_id;
+extern uint32_t pios_com_aux_radio_id;
+// The port that the GCS is connected to
+extern uint32_t pios_com_gcs_id;
+// The destination port from the GCS port
+extern uint32_t pios_com_gcs_out_id;
+// The destination port from the VCP com bridge
+extern uint32_t pios_com_bridge_id;
+// The destination port for the primary radio port
+extern uint32_t pios_com_pri_radio_out_id;
+// The destination port for the auxiliary radio port.
+extern uint32_t pios_com_aux_radio_out_id;
+// The PPM IDs
 extern uint32_t pios_ppm_rcvr_id;
 extern uint32_t pios_ppm_out_id;
-#define PIOS_COM_TELEM_USB_HID    (pios_com_telem_usb_id)
+#define PIOS_COM_HID           (pios_com_hid_id)
-#define PIOS_COM_TELEM_USB        PIOS_COM_TELEM_USB_HID
+#define PIOS_COM_VCP           (pios_com_vcp_id)
-#define PIOS_COM_TELEM_USB_VCP    (pios_com_telem_vcp_id)
+#define PIOS_COM_MAIN          (pios_com_main_id)
-#define PIOS_COM_VCP              (pios_com_vcp_id)
+#define PIOS_COM_FLEXI         (pios_com_flexi_id)
-#define PIOS_COM_TELEM_UART_MAIN  (pios_com_telem_uart_main_id)
+#define PIOS_COM_PRI_RADIO     (pios_com_pri_radio_id)
-#define PIOS_COM_TELEM_UART_FLEXI (pios_com_telem_uart_flexi_id)
+#define PIOS_COM_AUX_RADIO     (pios_com_aux_radio_id)
-#define PIOS_COM_TELEMETRY        (pios_com_telemetry_id)
+#define PIOS_COM_PRI_RADIO_OUT (pios_com_pri_radio_out_id)
-#define PIOS_COM_RFM22B           (pios_com_rfm22b_id)
+#define PIOS_COM_AUX_RADIO_OUT (pios_com_aux_radio_out_id)
-#define PIOS_COM_RADIO            (pios_com_radio_id)
+#define PIOS_COM_GCS           (pios_com_gcs_id)
-#define PIOS_COM_BRIDGE           (pios_com_bridge_id)
+#define PIOS_COM_GCS_OUT       (pios_com_gcs_out_id)
-#define PIOS_PPM_RECEIVER         (pios_ppm_rcvr_id)
+#define PIOS_COM_BRIDGE        (pios_com_bridge_id)
-#define PIOS_PPM_OUTPUT           (pios_ppm_out_id)
+#define PIOS_PPM_RECEIVER      (pios_ppm_rcvr_id)
-#define RFM22_DEBUG               1
+#define PIOS_PPM_OUTPUT        (pios_ppm_out_id)
+#define RFM22_DEBUG            1
 
 // -------------------------
 // ADC

flight/targets/boards/revolution/firmware/pios_board.c

@@ -931,27 +931,36 @@ void PIOS_Board_Init(void)
 
             oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
 
-            // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
+            // Set the modem (over the air) datarate.
             enum rfm22b_datarate datarate = RFM22_datarate_64000;
-            switch (oplinkSettings.ComSpeed) {
+            switch (oplinkSettings.AirDataRate) {
-            case OPLINKSETTINGS_COMSPEED_4800:
+            case OPLINKSETTINGS_AIRDATARATE_9600:
                 datarate = RFM22_datarate_9600;
                 break;
-            case OPLINKSETTINGS_COMSPEED_9600:
+            case OPLINKSETTINGS_AIRDATARATE_19200:
                 datarate = RFM22_datarate_19200;
                 break;
-            case OPLINKSETTINGS_COMSPEED_19200:
+            case OPLINKSETTINGS_AIRDATARATE_32000:
                 datarate = RFM22_datarate_32000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_38400:
+            case OPLINKSETTINGS_AIRDATARATE_57600:
+                datarate = RFM22_datarate_57600;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_64000:
                 datarate = RFM22_datarate_64000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_57600:
+            case OPLINKSETTINGS_AIRDATARATE_100000:
                 datarate = RFM22_datarate_100000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_115200:
+            case OPLINKSETTINGS_AIRDATARATE_128000:
+                datarate = RFM22_datarate_128000;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_192000:
                 datarate = RFM22_datarate_192000;
                 break;
+            case OPLINKSETTINGS_AIRDATARATE_256000:
+                datarate = RFM22_datarate_256000;
+                break;
             }
 
             /* Set the radio configuration parameters. */

flight/targets/boards/sparky2/firmware/pios_board.c

@@ -861,27 +861,36 @@ void PIOS_Board_Init(void)
 
             oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_ENABLED;
 
-            // Set the RF data rate on the modem to ~2X the selected buad rate because the modem is half duplex.
+            // Set the modem (over the air) datarate.
             enum rfm22b_datarate datarate = RFM22_datarate_64000;
-            switch (oplinkSettings.ComSpeed) {
+            switch (oplinkSettings.AirDataRate) {
-            case OPLINKSETTINGS_COMSPEED_4800:
+            case OPLINKSETTINGS_AIRDATARATE_9600:
                 datarate = RFM22_datarate_9600;
                 break;
-            case OPLINKSETTINGS_COMSPEED_9600:
+            case OPLINKSETTINGS_AIRDATARATE_19200:
                 datarate = RFM22_datarate_19200;
                 break;
-            case OPLINKSETTINGS_COMSPEED_19200:
+            case OPLINKSETTINGS_AIRDATARATE_32000:
                 datarate = RFM22_datarate_32000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_38400:
+            case OPLINKSETTINGS_AIRDATARATE_57600:
+                datarate = RFM22_datarate_57600;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_64000:
                 datarate = RFM22_datarate_64000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_57600:
+            case OPLINKSETTINGS_AIRDATARATE_100000:
                 datarate = RFM22_datarate_100000;
                 break;
-            case OPLINKSETTINGS_COMSPEED_115200:
+            case OPLINKSETTINGS_AIRDATARATE_128000:
+                datarate = RFM22_datarate_128000;
+                break;
+            case OPLINKSETTINGS_AIRDATARATE_192000:
                 datarate = RFM22_datarate_192000;
                 break;
+            case OPLINKSETTINGS_AIRDATARATE_256000:
+                datarate = RFM22_datarate_256000;
+                break;
             }
 
             /* Set the radio configuration parameters. */

ground/gcs/src/plugins/config/configoplinkwidget.cpp

@@ -79,11 +79,14 @@ ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(paren
     addWidgetBinding("OPLinkSettings", "MinChannel", m_oplink->MinimumChannel);
     addWidgetBinding("OPLinkSettings", "MaxChannel", m_oplink->MaximumChannel);
     addWidgetBinding("OPLinkSettings", "MaxRFPower", m_oplink->MaxRFTxPower);
-    addWidgetBinding("OPLinkSettings", "ComSpeed", m_oplink->ComSpeed);
     addWidgetBinding("OPLinkSettings", "MainPort", m_oplink->MainPort);
     addWidgetBinding("OPLinkSettings", "FlexiPort", m_oplink->FlexiPort);
-    addWidgetBinding("OPLinkSettings", "VCPPort", m_oplink->VCPPort);
+    addWidgetBinding("OPLinkSettings", "RadioPriStream", m_oplink->RadioPriStream);
-    addWidgetBinding("OPLinkSettings", "RadioAuxStream", m_oplink->RadioAuxPort);
+    addWidgetBinding("OPLinkSettings", "RadioAuxStream", m_oplink->RadioAuxStream);
+    addWidgetBinding("OPLinkSettings", "VCPBridge", m_oplink->VCPBridge);
+    addWidgetBinding("OPLinkSettings", "MainComSpeed", m_oplink->MainComSpeed);
+    addWidgetBinding("OPLinkSettings", "FlexiComSpeed", m_oplink->FlexiComSpeed);
+    addWidgetBinding("OPLinkSettings", "AirDataRate", m_oplink->AirDataRate);
 
     addWidgetBinding("OPLinkSettings", "RFXtalCap", m_oplink->RFXtalCapValue);
     addWidgetBinding("OPLinkSettings", "RFXtalCap", m_oplink->RFXtalCapSlider);
@@ -121,7 +124,9 @@ ConfigOPLinkWidget::ConfigOPLinkWidget(QWidget *parent) : ConfigTaskWidget(paren
     connect(m_oplink->MaximumChannel, SIGNAL(valueChanged(int)), this, SLOT(maxChannelChanged()));
     connect(m_oplink->MainPort, SIGNAL(currentIndexChanged(int)), this, SLOT(mainPortChanged()));
     connect(m_oplink->FlexiPort, SIGNAL(currentIndexChanged(int)), this, SLOT(flexiPortChanged()));
-    connect(m_oplink->VCPPort, SIGNAL(currentIndexChanged(int)), this, SLOT(vcpPortChanged()));
+    connect(m_oplink->RadioPriStream, SIGNAL(currentIndexChanged(int)), this, SLOT(radioPriStreamChanged()));
+    connect(m_oplink->RadioAuxStream, SIGNAL(currentIndexChanged(int)), this, SLOT(radioAuxStreamChanged()));
+    connect(m_oplink->VCPBridge, SIGNAL(currentIndexChanged(int)), this, SLOT(vcpBridgeChanged()));
 
     // Connect the Unbind button
     connect(m_oplink->UnbindButton, SIGNAL(released()), this, SLOT(unbind()));
@@ -203,14 +208,22 @@ void ConfigOPLinkWidget::updateStatus()
 
 void ConfigOPLinkWidget::setPortsVisible(bool visible)
 {
+    m_oplink->UartsLabel->setVisible(visible);
     m_oplink->MainPort->setVisible(visible);
     m_oplink->MainPortLabel->setVisible(visible);
     m_oplink->FlexiPort->setVisible(visible);
     m_oplink->FlexiPortLabel->setVisible(visible);
-    m_oplink->VCPPort->setVisible(visible);
+    m_oplink->ConnectionsLabel->setVisible(visible);
-    m_oplink->VCPPortLabel->setVisible(visible);
+    m_oplink->RadioPriStream->setVisible(visible);
-    m_oplink->RadioAuxPort->setVisible(visible);
+    m_oplink->RadioPriStreamLabel->setVisible(visible);
-    m_oplink->RadioAuxPortLabel->setVisible(visible);
+    m_oplink->RadioAuxStream->setVisible(visible);
+    m_oplink->RadioAuxStreamLabel->setVisible(visible);
+    m_oplink->MainComSpeed->setVisible(visible);
+    m_oplink->MainComSpeedLabel->setVisible(visible);
+    m_oplink->FlexiComSpeed->setVisible(visible);
+    m_oplink->FlexiComSpeedLabel->setVisible(visible);
+    m_oplink->VCPBridge->setVisible(visible);
+    m_oplink->VCPBridgeLabel->setVisible(visible);
 }
 
 void ConfigOPLinkWidget::updateInfo()
@@ -255,30 +268,35 @@ void ConfigOPLinkWidget::updateSettings()
 {
     // qDebug() << "ConfigOPLinkWidget::updateSettings";
 
-    bool is_enabled     = !isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_DISABLED);
+    bool is_enabled      = !isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_DISABLED);
-    bool is_coordinator = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKCOORDINATOR);
+    bool is_coordinator  = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKCOORDINATOR);
-    bool is_receiver    = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKRECEIVER);
+    bool is_receiver     = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPLINKRECEIVER);
-    bool is_openlrs     = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPENLRS);
+    bool is_openlrs      = isComboboxOptionSelected(m_oplink->Protocol, OPLinkSettings::PROTOCOL_OPENLRS);
-    bool is_ppm_only    = isComboboxOptionSelected(m_oplink->LinkType, OPLinkSettings::LINKTYPE_CONTROL);
+    bool is_ppm_only     = isComboboxOptionSelected(m_oplink->LinkType, OPLinkSettings::LINKTYPE_CONTROL);
+    bool is_main_serial  = isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL);
+    bool is_main_telem   = isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY);
+    bool is_flexi_serial = isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL);
+    bool is_flexi_telem  = isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY);
+    bool is_vcp_main     = isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_MAIN);
+    bool is_vcp_flexi    = isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_FLEXI);
     bool is_bound = (m_oplink->CoordID->text() != "");
 
-    m_oplink->ComSpeed->setEnabled(is_enabled && !is_ppm_only && !is_openlrs);
+    m_oplink->MainPort->setEnabled(is_enabled || is_vcp_main);
+    m_oplink->FlexiPort->setEnabled(is_enabled || is_vcp_flexi);
+    m_oplink->MainComSpeed->setEnabled((is_enabled || is_vcp_main) && !is_ppm_only && !is_openlrs && (is_main_serial || is_main_telem));
+    m_oplink->FlexiComSpeed->setEnabled((is_enabled || is_vcp_flexi) && !is_ppm_only && !is_openlrs && (is_flexi_serial || is_flexi_telem));
     m_oplink->CoordID->setEnabled(is_enabled && is_receiver);
     m_oplink->UnbindButton->setEnabled(is_enabled && is_bound && !is_coordinator);
     m_oplink->CustomDeviceID->setEnabled(is_coordinator);
 
-    m_oplink->RadioAuxPort->setEnabled(is_receiver || is_coordinator);
+    m_oplink->RadioPriStream->setEnabled((is_receiver || is_coordinator) && !is_ppm_only);
+    m_oplink->RadioAuxStream->setEnabled((is_receiver || is_coordinator) && !is_ppm_only);
 
+    m_oplink->AirDataRate->setEnabled((is_receiver || is_coordinator) && !is_ppm_only);
     m_oplink->RFBand->setEnabled(is_receiver || is_coordinator);
     m_oplink->MinimumChannel->setEnabled(is_receiver || is_coordinator);
     m_oplink->MaximumChannel->setEnabled(is_receiver || is_coordinator);
 
-    enableComboBoxOptionItem(m_oplink->VCPPort, OPLinkSettings::VCPPORT_SERIAL, (is_receiver || is_coordinator));
-
-    if (isComboboxOptionSelected(m_oplink->VCPPort, OPLinkSettings::VCPPORT_SERIAL) && !(is_receiver || is_coordinator)) {
-        setComboboxSelectedOption(m_oplink->VCPPort, OPLinkSettings::VCPPORT_DISABLED);
-    }
-
     m_oplink->LinkType->setEnabled(is_enabled && !is_openlrs);
     m_oplink->MaxRFTxPower->setEnabled(is_enabled && !is_openlrs);
 }
@@ -366,22 +384,28 @@ void ConfigOPLinkWidget::updateFrequencyDisplay()
 void ConfigOPLinkWidget::mainPortChanged()
 {
     switch (getComboboxSelectedOption(m_oplink->MainPort)) {
-    case OPLinkSettings::MAINPORT_TELEMETRY:
-    case OPLinkSettings::MAINPORT_SERIAL:
-        if (isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY)
-            || isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL)) {
-            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_DISABLED);
-        }
-        break;
-    case OPLinkSettings::MAINPORT_COMBRIDGE:
-        if (isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_COMBRIDGE)) {
-            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_DISABLED);
-        }
-        break;
     case OPLinkSettings::MAINPORT_PPM:
-        if (isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_PPM)) {
+    case OPLinkSettings::MAINPORT_PWM:
-            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_DISABLED);
+    case OPLinkSettings::MAINPORT_DISABLED:
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
         }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_MAIN)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        m_oplink->MainComSpeed->setEnabled(false);
+        break;
+    case OPLinkSettings::MAINPORT_TELEMETRY:
+        if (isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL);
+        }
+    case OPLinkSettings::MAINPORT_SERIAL:
+        m_oplink->MainComSpeed->setEnabled(true);
+        break;
+    default:
         break;
     }
 }
@@ -389,41 +413,161 @@ void ConfigOPLinkWidget::mainPortChanged()
 void ConfigOPLinkWidget::flexiPortChanged()
 {
     switch (getComboboxSelectedOption(m_oplink->FlexiPort)) {
-    case OPLinkSettings::FLEXIPORT_TELEMETRY:
-    case OPLinkSettings::FLEXIPORT_SERIAL:
-        if (isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY)
-            || isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL)) {
-            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_DISABLED);
-        }
-        break;
-    case OPLinkSettings::FLEXIPORT_COMBRIDGE:
-        if (isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_COMBRIDGE)) {
-            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_DISABLED);
-        }
-        break;
     case OPLinkSettings::FLEXIPORT_PPM:
-        if (isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_PPM)) {
+    case OPLinkSettings::FLEXIPORT_PWM:
-            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_DISABLED);
+    case OPLinkSettings::FLEXIPORT_DISABLED:
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
         }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        m_oplink->FlexiComSpeed->setEnabled(false);
+        break;
+    case OPLinkSettings::FLEXIPORT_TELEMETRY:
+        if (isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY)) {
+            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL);
+        }
+        m_oplink->FlexiComSpeed->setEnabled(true);
+        break;
+    case OPLinkSettings::FLEXIPORT_SERIAL:
+        m_oplink->FlexiComSpeed->setEnabled(true);
+        break;
+    default:
         break;
     }
 }
 
-void ConfigOPLinkWidget::vcpPortChanged()
+void ConfigOPLinkWidget::radioPriStreamChanged()
 {
-    bool vcpComBridgeEnabled = isComboboxOptionSelected(m_oplink->VCPPort, OPLinkSettings::VCPPORT_COMBRIDGE);
+    switch (getComboboxSelectedOption(m_oplink->RadioPriStream)) {
-
+    case OPLinkSettings::RADIOPRISTREAM_DISABLED:
-    enableComboBoxOptionItem(m_oplink->MainPort, OPLinkSettings::MAINPORT_COMBRIDGE, vcpComBridgeEnabled);
+        break;
-    enableComboBoxOptionItem(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_COMBRIDGE, vcpComBridgeEnabled);
+    case OPLinkSettings::RADIOPRISTREAM_HID:
-
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_HID)) {
-    if (!vcpComBridgeEnabled) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
-        if (isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_COMBRIDGE)) {
-            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_DISABLED);
         }
-        if (isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_COMBRIDGE)) {
+        break;
-            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_DISABLED);
+    case OPLinkSettings::RADIOPRISTREAM_MAIN:
+        if (!isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL);
         }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_MAIN)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        break;
+    case OPLinkSettings::RADIOPRISTREAM_FLEXI:
+        if (!isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        break;
+    case OPLinkSettings::RADIOPRISTREAM_VCP:
+        if (!isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_VCP)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        break;
     }
+    updateSettings();
+}
+
+void ConfigOPLinkWidget::radioAuxStreamChanged()
+{
+    switch (getComboboxSelectedOption(m_oplink->RadioAuxStream)) {
+    case OPLinkSettings::RADIOAUXSTREAM_DISABLED:
+        break;
+    case OPLinkSettings::RADIOAUXSTREAM_HID:
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_HID)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        break;
+    case OPLinkSettings::RADIOAUXSTREAM_MAIN:
+        if (!isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_MAIN)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        break;
+    case OPLinkSettings::RADIOAUXSTREAM_FLEXI:
+        if (!isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_MAIN)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        break;
+    case OPLinkSettings::RADIOAUXSTREAM_VCP:
+        if (!isComboboxOptionSelected(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED)) {
+            setComboboxSelectedOption(m_oplink->VCPBridge, OPLinkSettings::VCPBRIDGE_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_VCP)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        break;
+    }
+    updateSettings();
+}
+
+void ConfigOPLinkWidget::vcpBridgeChanged()
+{
+    switch (getComboboxSelectedOption(m_oplink->VCPBridge)) {
+    case OPLinkSettings::VCPBRIDGE_DISABLED:
+        break;
+    case OPLinkSettings::VCPBRIDGE_MAIN:
+        if (!isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->MainPort, OPLinkSettings::MAINPORT_SERIAL);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_VCP) ||
+            isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_VCP) ||
+            isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_MAIN)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        break;
+    case OPLinkSettings::VCPBRIDGE_FLEXI:
+        if (!isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_TELEMETRY) &&
+            !isComboboxOptionSelected(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL)) {
+            setComboboxSelectedOption(m_oplink->FlexiPort, OPLinkSettings::FLEXIPORT_SERIAL);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_VCP) ||
+            isComboboxOptionSelected(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioPriStream, OPLinkSettings::RADIOPRISTREAM_DISABLED);
+        }
+        if (isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_VCP) ||
+            isComboboxOptionSelected(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_FLEXI)) {
+            setComboboxSelectedOption(m_oplink->RadioAuxStream, OPLinkSettings::RADIOAUXSTREAM_DISABLED);
+        }
+        break;
+    }
+    updateSettings();
 }
 
 void ConfigOPLinkWidget::unbind()

ground/gcs/src/plugins/config/configoplinkwidget.h

@@ -78,7 +78,9 @@ private slots:
 
     void mainPortChanged();
     void flexiPortChanged();
-    void vcpPortChanged();
+    void radioPriStreamChanged();
+    void radioAuxStreamChanged();
+    void vcpBridgeChanged();
 
     void unbind();
 };

ground/gcs/src/plugins/config/oplink.ui

@@ -101,7 +101,7 @@
                 <string>Configuration</string>
                </property>
                <layout class="QGridLayout" name="gridLayout_2">
-                <item row="3" column="1">
+                <item row="5" column="1">
                  <widget class="QLineEdit" name="CoordID">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -138,7 +138,7 @@ The device must be rebooted for the binding to take place.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="2" column="1">
+                <item row="4" column="1">
                  <widget class="QLineEdit" name="CustomDeviceID">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Minimum" vsizetype="Fixed">
@@ -196,7 +196,29 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="2" column="6">
+                <item row="0" column="5">
+                  <widget class="QLabel" name="UartsLabel">
+                    <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                      </sizepolicy>
+                    </property>
+                    <property name="font">
+                      <font>
+                        <weight>50</weight>
+                        <bold>true</bold>
+                      </font>
+                    </property>
+                    <property name="text">
+                      <string>Serial Ports</string>
+                    </property>
+                    <property name="alignment">
+                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                    </property>
+                  </widget>
+                </item>
+                <item row="1" column="5">
                  <widget class="QLabel" name="MainPortLabel">
                   <property name="font">
                    <font>
@@ -212,7 +234,227 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="5" column="0">
+                <item row="1" column="6">
+                 <widget class="QComboBox" name="MainPort">
+                  <property name="toolTip">
+                   <string>Choose a function for the main port.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="7">
+                 <widget class="QLabel" name="MainComSpeedLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Speed</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="1" column="8">
+                 <widget class="QComboBox" name="MainComSpeed">
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Choose the baud rate for the main com port.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="5">
+                 <widget class="QLabel" name="FlexiPortLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Flexi Port</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="6">
+                 <widget class="QComboBox" name="FlexiPort">
+                  <property name="toolTip">
+                   <string>Choose a function for the flexi port.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="7">
+                 <widget class="QLabel" name="FlexiComSpeedLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Speed</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="8">
+                 <widget class="QComboBox" name="FlexiComSpeed">
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Choose the baud rate for the main com port.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="4" column="5">
+                  <widget class="QLabel" name="ConnectionsLabel">
+                    <property name="sizePolicy">
+                      <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                        <horstretch>0</horstretch>
+                        <verstretch>0</verstretch>
+                      </sizepolicy>
+                    </property>
+                    <property name="font">
+                      <font>
+                        <weight>50</weight>
+                        <bold>true</bold>
+                      </font>
+                    </property>
+                    <property name="text">
+                      <string>Connections</string>
+                    </property>
+                    <property name="alignment">
+                      <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                    </property>
+                  </widget>
+                </item>
+                <item row="5" column="5">
+                 <widget class="QLabel" name="RadioPriStreamLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Radio Primary</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="5" column="6">
+                 <widget class="QComboBox" name="RadioPriStream">
+                  <property name="toolTip">
+                   <string>Choose a destination for the primary radio stream.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="0">
+                 <widget class="QLabel" name="AirDataRateLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Air Data Rate</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="3" column="1">
+                 <widget class="QComboBox" name="AirDataRate">
+                  <property name="maximumSize">
+                   <size>
+                    <width>90</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Choose the over-the-air baud rate for the radio.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="6" column="5">
+                 <widget class="QLabel" name="RadioAuxStreamLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Radio Auxiliary</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="6" column="6">
+                 <widget class="QComboBox" name="RadioAuxStream">
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Choose a destination for the auxiliary radio stream.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="7" column="5">
+                 <widget class="QLabel" name="VCPBridgeLabel">
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>VCP Bridge</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="7" column="6">
+                 <widget class="QComboBox" name="VCPBridge">
+                  <property name="maximumSize">
+                   <size>
+                    <width>16777215</width>
+                    <height>16777215</height>
+                   </size>
+                  </property>
+                  <property name="toolTip">
+                   <string>Choose a destination for the Virtual Com Port bridge connection.</string>
+                  </property>
+                 </widget>
+                </item>
+                <item row="7" column="0">
                  <widget class="QLabel" name="MaximumChannelLabel">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -259,41 +501,6 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="2" column="7">
-                 <widget class="QComboBox" name="MainPort">
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Choose the function for the main port.</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="0" column="6">
-                 <widget class="QLabel" name="MaxRFTxPowerLabel">
-                  <property name="sizePolicy">
-                   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
-                    <horstretch>0</horstretch>
-                    <verstretch>0</verstretch>
-                   </sizepolicy>
-                  </property>
-                  <property name="font">
-                   <font>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
-                  <property name="text">
-                   <string>Max Power</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                  </property>
-                 </widget>
-                </item>
                 <item row="1" column="5">
                  <spacer name="horizontalSpacer_2">
                   <property name="orientation">
@@ -307,7 +514,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </spacer>
                 </item>
-                <item row="5" column="1">
+                <item row="7" column="1">
                  <layout class="QHBoxLayout" name="horizontalLayout_2">
                   <item>
                    <widget class="QSpinBox" name="MaximumChannel">
@@ -358,20 +565,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </item>
                  </layout>
                 </item>
-                <item row="3" column="7">
+                <item row="4" column="2">
-                 <widget class="QComboBox" name="FlexiPort">
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Choose the function for the flexi port.</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="3" column="2">
                  <widget class="QPushButton" name="UnbindButton">
                   <property name="focusPolicy">
                    <enum>Qt::NoFocus</enum>
@@ -384,7 +578,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="6" column="0">
+                <item row="8" column="0">
                  <widget class="QLabel" name="MinimumChannelLabel">
                   <property name="sizePolicy">
                    <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
@@ -428,29 +622,6 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="1" column="6">
-                 <widget class="QLabel" name="ComSpeedLabel">
-                  <property name="font">
-                   <font>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
-                  <property name="text">
-                   <string>Com Speed</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item row="1" column="7">
-                 <widget class="QComboBox" name="ComSpeed">
-                  <property name="toolTip">
-                   <string>Com speed in bps.</string>
-                  </property>
-                 </widget>
-                </item>
                 <item row="1" column="0">
                  <widget class="QLabel" name="LinkTypeLabel">
                   <property name="font">
@@ -467,7 +638,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="6" column="1">
+                <item row="8" column="1">
                  <layout class="QHBoxLayout" name="horizontalLayout_3">
                   <item>
                    <widget class="QSpinBox" name="MinimumChannel">
@@ -518,7 +689,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </item>
                  </layout>
                 </item>
-                <item row="2" column="0">
+                <item row="4" column="0">
                  <widget class="QLabel" name="CustomDeviceIDLabel">
                   <property name="font">
                    <font>
@@ -534,23 +705,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="3" column="6">
+                <item row="5" column="0">
-                 <widget class="QLabel" name="FlexiPortLabel">
-                  <property name="font">
-                   <font>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
-                  <property name="text">
-                   <string>Flexi Port</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item row="3" column="0">
                  <widget class="QLabel" name="CoordIDLabel">
                   <property name="font">
                    <font>
@@ -588,11 +743,33 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="0" column="7">
+                <item row="2" column="0">
+                 <widget class="QLabel" name="MaxRFTxPowerLabel">
+                  <property name="sizePolicy">
+                   <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+                    <horstretch>0</horstretch>
+                    <verstretch>0</verstretch>
+                   </sizepolicy>
+                  </property>
+                  <property name="font">
+                   <font>
+                    <weight>50</weight>
+                    <bold>false</bold>
+                   </font>
+                  </property>
+                  <property name="text">
+                   <string>Max Power</string>
+                  </property>
+                  <property name="alignment">
+                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+                  </property>
+                 </widget>
+                </item>
+                <item row="2" column="1">
                  <widget class="QComboBox" name="MaxRFTxPower">
                   <property name="maximumSize">
                    <size>
-                    <width>16777215</width>
+                    <width>90</width>
                     <height>16777215</height>
                    </size>
                   </property>
@@ -608,7 +785,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="4" column="0">
+                <item row="6" column="0">
                  <widget class="QLabel" name="BandLabel">
                   <property name="font">
                    <font>
@@ -624,7 +801,7 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="4" column="1">
+                <item row="6" column="1">
                  <widget class="QComboBox" name="RFBand">
                   <property name="maximumSize">
                    <size>
@@ -643,64 +820,6 @@ Leave blank to use autogenerated Device ID.</string>
                   </property>
                  </widget>
                 </item>
-                <item row="4" column="6">
-                 <widget class="QLabel" name="VCPPortLabel">
-                  <property name="font">
-                   <font>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
-                  <property name="text">
-                   <string>VCP Port</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item row="4" column="7">
-                 <widget class="QComboBox" name="VCPPort">
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Choose the function for the USB virtual com port.</string>
-                  </property>
-                 </widget>
-                </item>
-                <item row="5" column="6">
-                 <widget class="QLabel" name="RadioAuxPortLabel">
-                  <property name="font">
-                   <font>
-                    <weight>50</weight>
-                    <bold>false</bold>
-                   </font>
-                  </property>
-                  <property name="text">
-                   <string>Radio Aux Port</string>
-                  </property>
-                  <property name="alignment">
-                   <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
-                  </property>
-                 </widget>
-                </item>
-                <item row="5" column="7">
-                 <widget class="QComboBox" name="RadioAuxPort">
-                  <property name="maximumSize">
-                   <size>
-                    <width>16777215</width>
-                    <height>16777215</height>
-                   </size>
-                  </property>
-                  <property name="toolTip">
-                   <string>Choose the function for the Radio Auxiliary virtual com port.</string>
-                  </property>
-                 </widget>
-                </item>
                </layout>
               </widget>
              </item>

shared/uavobjectdefinition/oplinksettings.xml

@@ -3,27 +3,33 @@
 		<description>OPLink configurations options.</description>
                 <field name="Protocol" units="" type="enum" elements="1" options="Disabled,OPLinkReceiver,OPLinkCoordinator,OpenLRS" defaultvalue="Disabled"/>
                 <field name="LinkType" units="" type="enum" elements="1" options="Data,Control,DataAndControl" defaultvalue="Data"/>
-		<field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
+                <field name="CoordID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
-		<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,ComBridge,PPM,PWM" defaultvalue="Disabled"/>
-		<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,ComBridge,PPM,PWM" defaultvalue="Disabled"/>
-		<field name="VCPPort" units="" type="enum" elements="1" options="Disabled,Serial,ComBridge" defaultvalue="Disabled"/>
-		<field name="ComSpeed" units="bps" type="enum" elements="1" options="4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
-		<field name="MaxRFPower" units="mW" type="enum" elements="1" options="0,1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="0"/>
-		<field name="RFBand" units="" type="enum" elements="1" options="433MHz,868MHz,915MHz" defaultvalue="433MHz"/>    
-		<field name="MinChannel" units="" type="uint8" elements="1" defaultvalue="0"/>
-		<field name="MaxChannel" units="" type="uint8" elements="1" defaultvalue="250"/>
 		<field name="CustomDeviceID" units="hex" type="uint32" elements="1" defaultvalue="0"/>
-		<field name="RFXtalCap" units="" type="uint8" elements="1" defaultvalue="127" limits="%BE:0:171" description="0 to 171 range, default 127"/>
 
-		<!-- OpenLRS options -->
+                <!-- port options -->
+		<field name="MainPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>
+		<field name="FlexiPort" units="" type="enum" elements="1" options="Disabled,Telemetry,Serial,PPM,PWM" defaultvalue="Disabled"/>
+		<field name="RadioPriStream" units="connection" type="enum" elements="1" options="Disabled,HID,Main,Flexi,VCP" defaultvalue="HID"/>
+                <field name="RadioAuxStream" units="connection" type="enum" elements="1" options="Disabled,HID,Main,Flexi,VCP" defaultvalue="Disabled"/>
+                <field name="VCPBridge" units="connection" type="enum" elements="1" options="Disabled,Main,Flexi" defaultvalue="Disabled"/>
+                <field name="MainComSpeed" units="bps" type="enum" elements="1" options="Disabled,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
+                <field name="FlexiComSpeed" units="bps" type="enum" elements="1" options="Disabled,4800,9600,19200,38400,57600,115200" defaultvalue="38400"/>
+                <field name="AirDataRate" units="bps" type="enum" elements="1" options="9600,19200,32000,57600,64000,100000,128000,192000,256000" defaultvalue="64000"/>
+
+                <!-- OpenLRS options -->
 		<field name="Version" units="" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="SerialBaudrate" units="bps" type="uint32" elements="1" defaultvalue="0"/>
 		<field name="RFFrequency" units="Hz" type="uint32" elements="1" defaultvalue="0"/>
 		<field name="FailsafeDelay" units="ms" type="uint32" elements="1" defaultvalue="1000"/>
 		<field name="RSSIType" units="function" type="enum" elements="1" options="Combined,RSSI,LinkQuality" defaultvalue="Combined"/> 
-        <field name="RadioAuxStream" units="function" type="enum" elements="1" options="ComBridge,Disabled" defaultvalue="Disabled"/>
-        <!-- rf_magic === CoordID -->
 		<field name="RFPower" units="" type="uint8" elements="1" defaultvalue="0"/>
+
+                <!-- RF options -->
+		<field name="RFXtalCap" units="" type="uint8" elements="1" defaultvalue="127" limits="%BE:0:171" description="0 to 171 range, default 127"/>
+		<field name="MinChannel" units="" type="uint8" elements="1" defaultvalue="0"/>
+		<field name="MaxChannel" units="" type="uint8" elements="1" defaultvalue="250"/>
+		<field name="RFBand" units="" type="enum" elements="1" options="433MHz,868MHz,915MHz" defaultvalue="433MHz"/>    
+		<field name="MaxRFPower" units="mW" type="enum" elements="1" options="0,1.25,1.6,3.16,6.3,12.6,25,50,100" defaultvalue="0"/>
 		<field name="RFChannelSpacing" units="Hz" type="uint8" elements="1" defaultvalue="0"/>
 		<field name="HopChannel" units="" type="uint8" elements="24" defaultvalue="0"/>
 		<field name="ModemParams" units="" type="uint8" elements="1" defaultvalue="0"/>