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drivers/rc_input: support RC_RSSI_PWM_CHAN

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This commit is contained in:
Daniel Agar
2021-01-26 18:19:52 -05:00
parent ab650373d6
commit 53a14e847d
4 changed files with 91 additions and 61 deletions
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src/drivers/rc_input/RCInput.hpp
+13 -1
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@@ -49,11 +49,14 @@
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/log.h>
#include <px4_platform_common/module.h>
#include <px4_platform_common/module_params.h>
#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
#include <uORB/PublicationMulti.hpp>
#include <uORB/Subscription.hpp>
#include <uORB/SubscriptionInterval.hpp>
#include <uORB/topics/adc_report.h>
#include <uORB/topics/input_rc.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command.h>
#include "crsf_telemetry.h"
@@ -62,7 +65,7 @@
# include <systemlib/ppm_decode.h>
#endif
class RCInput : public ModuleBase<RCInput>, public px4::ScheduledWorkItem
class RCInput : public ModuleBase<RCInput>, public ModuleParams, public px4::ScheduledWorkItem
{
public:
@@ -134,6 +137,8 @@ private:
static constexpr unsigned _current_update_interval{4000}; // 250 Hz
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
@@ -142,6 +147,7 @@ private:
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};
int _rcs_fd{-1};
@@ -157,4 +163,10 @@ private:
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
uint32_t _bytes_rx{0};
DEFINE_PARAMETERS(
(ParamInt<px4::params::RC_RSSI_PWM_CHAN>) _param_rc_rssi_pwm_chan,
(ParamInt<px4::params::RC_RSSI_PWM_MIN>) _param_rc_rssi_pwm_min,
(ParamInt<px4::params::RC_RSSI_PWM_MAX>) _param_rc_rssi_pwm_max
)
};