From a693bbaf19d784bf34373ee29b3d30a44bf04f00 Mon Sep 17 00:00:00 2001
From: Atin Malaviya <atinm.dev@gmail.com>
Date: Fri, 4 Jul 2025 16:14:58 -0400
Subject: [PATCH 1/2] Reset new data available after reading it

Without the reset, we don't notice if the radio is disconnected.
---
 src/rcl/RclGizmoIbus.h | 1 +
 src/rcl/ibus/IBus.h    | 5 +++++
 2 files changed, 6 insertions(+)

diff --git a/src/rcl/RclGizmoIbus.h b/src/rcl/RclGizmoIbus.h
index c5b7ecc9..5409e434 100644
--- a/src/rcl/RclGizmoIbus.h
+++ b/src/rcl/RclGizmoIbus.h
@@ -32,6 +32,7 @@ class RclGizmoIbus : public RclGizmo {
         for (uint8_t i=0; i<IBus::MAX_CHANNELS; i++) {
           pwm[i] = ibus.get_channel_value(i);
         }
+        ibus.done_reading_data();
         count++;
         return true;
       }
diff --git a/src/rcl/ibus/IBus.h b/src/rcl/ibus/IBus.h
index 407e4c47..65a8b56d 100644
--- a/src/rcl/ibus/IBus.h
+++ b/src/rcl/ibus/IBus.h
@@ -150,6 +150,11 @@ class IBus {
      */
     bool has_new_data() const;
 
+    /**
+     * @brief Reset new data available after read is complete
+     */
+    void done_reading_data() { m_data_available_flag = false; }
+
     /**
      * @brief Get communication statistics
      *

From 120b6396c9246fb276e327c83822163bb184af48 Mon Sep 17 00:00:00 2001
From: Atin Malaviya <atinm.dev@gmail.com>
Date: Fri, 4 Jul 2025 22:56:05 -0400
Subject: [PATCH 2/2] Added hack to check channels 9-12 for > 1500 for failsafe

With the FS-i6 firmware from https://github.com/qba667/FlySkyI6,
failsafe doesn't actually change channels 1-8, it continues sending
the current values even on lost radio link. But channels 9-12 all
become > 1500 when they are 1500 before losing radio link so
hardcode checking channels 9-12 > 1500 for failsafe for radio link
lost. Hopefully we are never in a situation where channel 9-12 are
all > 1500 when radio link is lost...
---
 src/rcl/RclGizmoIbus.h | 14 ++++++++++++--
 1 file changed, 12 insertions(+), 2 deletions(-)

diff --git a/src/rcl/RclGizmoIbus.h b/src/rcl/RclGizmoIbus.h
index 5409e434..029039f4 100644
--- a/src/rcl/RclGizmoIbus.h
+++ b/src/rcl/RclGizmoIbus.h
@@ -34,8 +34,18 @@ class RclGizmoIbus : public RclGizmo {
         }
         ibus.done_reading_data();
         count++;
-        return true;
       }
-      return false;
+
+      // !!HACK!!
+      // FlySky FS-i6 firmware (https://github.com/qba667/FlySkyI6) failsafe
+      // doesn't seem to actually change channels 1-6 even when set to
+      // failsafe. But channel 9-12 become > 1500 when they are 1500 if unused and
+      // we lost radio link. Just hardcode that and hope no one will ever be in a
+      // situation where all these are > 1500 except on losing radio link in failsafe!
+      // !!HACK!!
+      if (pwm[9] > 1500 && pwm[10] > 1500 && pwm[11] >1500 && pwm[12] > 1500) {
+        return false;
+      }
+      return true;
     }
 };
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