Great question — answering as the UphillTech team:
ACS is firmware/hardware dependent. Theres lots of combinations of chips in the mentioned hardware which complicates things. In the case of the RockPi S it’s just RTL8723DS. But in the case of the NanoPi R6C - it could be RTL8812[AB]U, RTL88[12]1CU, RTL8851BU, or MT7662. I’ve found hardware support questionable at the best of times. From what I have to tinker with, MT7921U and RTL8188FTV doesn’t support it. But RTL8852CE and CYW43455 (in Pi 3A+, 3B+, 4B, 5B) does. There doesn’t seem to be an obvious flag in iw phy that indicates support or lack thereof, unlike DFS_OFFLOAD.
Full answer by snake_case: https://superuser.stackexchange.com/a/1940343 (CC BY-SA 4.0).
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