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IO RSSI handling: Fix RSSI for all protocols.

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This commit is contained in:
Lorenz Meier
2015-04-21 10:40:42 +02:00
parent 9c282cf6d6
commit 027919302d
1 changed files with 15 additions and 6 deletions
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src/modules/px4iofirmware/controls.c
+15 -6
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@@ -99,6 +99,9 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
if (*st24_updated) {
/* ensure ADC RSSI is disabled */
r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI);
*rssi = st24_rssi;
r_raw_rc_count = st24_channel_count;
@@ -116,14 +119,14 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
for (unsigned i = 0; i < n_bytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
sumd_rssi = RC_INPUT_RSSI_MAX;
*sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count,
&sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
if (*sumd_updated) {
*rssi = sumd_rssi;
/* not setting RSSI since SUMD does not provide one */
r_raw_rc_count = sumd_channel_count;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD;
@@ -187,8 +190,8 @@ controls_tick() {
/* use 1:1 scaling on 3.3V ADC input */
unsigned mV = counts * 3300 / 4096;
/* scale to 0..253 */
rssi = mV / 13;
/* scale to 0..253 and lowpass */
rssi = (rssi * 0.99f) + ((mV / 13) * 0.01f);
}
}
#endif
@@ -215,17 +218,23 @@ controls_tick() {
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
rssi = 255;
unsigned sbus_rssi = 254;
if (sbus_frame_drop) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
rssi = 100;
sbus_rssi = 100;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
}
/* set RSSI to an emulated value if ADC RSSI is off */
if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
rssi = sbus_rssi;
}
if (sbus_failsafe) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
/* set RSSI to 0 if the decoder senses complete drop, independent of the ADC value */
rssi = 0;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);