feat (MAVLink): use RADIO_STATUS to fill input_rc data

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@gmail.com>

src/modules/mavlink/mavlink_main.cpp

@@ -1393,6 +1393,17 @@ Mavlink::update_radio_status(const radio_status_s &radio_status)
 	pthread_mutex_unlock(&_radio_status_mutex);
 }
 
+bool
+Mavlink::get_radio_status(radio_status_s &radio_status) const
+{
+	if (_radio_status_available) {
+		radio_status = _rstatus;
+		return true;
+	}
+
+	return false;
+}
+
 int
 Mavlink::configure_streams_to_default(const char *configure_single_stream)
 {

src/modules/mavlink/mavlink_main.h

@@ -449,6 +449,8 @@ public:
 
 	void			update_radio_status(const radio_status_s &radio_status);
 
+	bool			get_radio_status(radio_status_s &radio_status) const;
+
 	unsigned		get_system_type() { return _param_mav_type.get(); }
 
 	Protocol 		get_protocol() const { return _protocol; }

src/modules/mavlink/mavlink_receiver.cpp

@@ -2006,7 +2006,20 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 	input_rc_s rc{};
 	// metadata
 	rc.timestamp = rc.timestamp_last_signal = hrt_absolute_time();
-	rc.rssi = input_rc_s::RSSI_MAX;
+
+	radio_status_s radio_status{};
+
+	if (_mavlink.get_radio_status(radio_status)) {
+		rc.rssi_dbm = -(float)(radio_status.remote_rssi);
+		rc.link_quality = (int8_t)(radio_status.rssi / 2.55); // convert to percentage
+
+	} else {
+		rc.rssi_dbm = NAN;
+		rc.link_quality = -1;
+	}
+
+	rc.rssi = rc.link_quality;
+
 	rc.rc_failsafe = false;
 	rc.rc_lost = false;
 	rc.rc_lost_frame_count = 0;
@@ -2071,9 +2084,6 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 		}
 	}
 
-	rc.link_quality = -1;
-	rc.rssi_dbm = NAN;
-
 	// publish uORB message
 	_rc_pub.publish(rc);
 }