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Merge pull request #1420 from PX4/rctype

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Encode RC type in RSSI field for GCS
This commit is contained in:
Lorenz Meier
2014-11-17 00:03:31 +01:00
parent 52d5a7c00a 7480fc92d0
commit 4a66b29e55
2 changed files with 55 additions and 2 deletions
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src/modules/mavlink/mavlink_messages.cpp
+47 -1
View File
@@ -1719,7 +1719,53 @@ protected:
msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
msg.rssi = rc.rssi;
/* RSSI has a max value of 100, and when Spektrum or S.BUS are
* available, the RSSI field is invalid, as they do not provide
* an RSSI measurement. Use an out of band magic value to signal
* these digital ports. XXX revise MAVLink spec to address this.
* One option would be to use the top bit to toggle between RSSI
* and input source mode.
*
* Full RSSI field: 0b 1 111 1111
*
* ^ If bit is set, RSSI encodes type + RSSI
*
* ^ These three bits encode a total of 8
* digital RC input types.
* 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24
* ^ These four bits encode a total of
* 16 RSSI levels. 15 = full, 0 = no signal
*
*/
/* Initialize RSSI with the special mode level flag */
msg.rssi = (1 << 7);
/* Set RSSI */
msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
switch (rc.input_source) {
case RC_INPUT_SOURCE_PX4FMU_PPM:
/* fallthrough */
case RC_INPUT_SOURCE_PX4IO_PPM:
msg.rssi |= (0 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
msg.rssi |= (1 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SBUS:
msg.rssi |= (2 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_ST24:
msg.rssi |= (3 << 4);
break;
}
if (rc.rc_lost) {
/* RSSI is by definition zero */
msg.rssi = 0;
}
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
}
src/modules/px4iofirmware/controls.c
+8 -1
View File
@@ -41,6 +41,7 @@
#include <stdbool.h>
#include <drivers/drv_hrt.h>
#include <drivers/drv_rc_input.h>
#include <systemlib/perf_counter.h>
#include <systemlib/ppm_decode.h>
#include <rc/st24.h>
@@ -70,7 +71,6 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes);
if (*dsm_updated) {
r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000)
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
@@ -91,6 +91,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated)
for (unsigned i = 0; i < n_bytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
*st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count,
&st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS));
}
@@ -170,6 +171,12 @@ controls_tick() {
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated);
if (dsm_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM;
}
if (st24_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);