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RC input: Better monitoring

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The output is now less confusing in terms of which protocol is currently active.
This commit is contained in:
Lorenz Meier
2020-12-31 13:22:52 +01:00
parent af28a298e5
commit 6529e1444f
2 changed files with 46 additions and 9 deletions
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src/drivers/rc_input/RCInput.cpp
+43 -7
View File
@@ -64,6 +64,10 @@ RCInput::RCInput(const char *device) :
RCInput::~RCInput()
{
#if defined(SPEKTRUM_POWER)
// Disable power controls for Spektrum receiver
SPEKTRUM_POWER_PASSIVE();
#endif
dsm_deinit();
delete _crsf_telemetry;
@@ -81,6 +85,7 @@ RCInput::init()
#endif // RF_RADIO_POWER_CONTROL
// dsm_init sets some file static variables and returns a file descriptor
// it also powers on the radio if needed
_rcs_fd = dsm_init(_device);
if (_rcs_fd < 0) {
@@ -356,7 +361,7 @@ void RCInput::Run()
if (_report_lock && _rc_scan_locked) {
_report_lock = false;
//PX4_WARN("RCscan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
PX4_INFO("RC scan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
}
int newBytes = 0;
@@ -369,6 +374,10 @@ void RCInput::Run()
// read all available data from the serial RC input UART
newBytes = ::read(_rcs_fd, &_rcs_buf[0], SBUS_BUFFER_SIZE);
if (newBytes > 0) {
_bytes_rx += newBytes;
}
switch (_rc_scan_state) {
case RC_SCAN_SBUS:
if (_rc_scan_begin == 0) {
@@ -690,17 +699,44 @@ int RCInput::custom_command(int argc, char *argv[])
int RCInput::print_status()
{
PX4_INFO("Running");
PX4_INFO("Max update rate: %i Hz", 1000000 / _current_update_interval);
if (_device[0] != '\0') {
PX4_INFO("Serial device: %s", _device);
PX4_INFO("UART device: %s", _device);
PX4_INFO("UART RX bytes: %u", _bytes_rx);
}
PX4_INFO("RC scan state: %s, locked: %s", RC_SCAN_STRING[_rc_scan_state], _rc_scan_locked ? "yes" : "no");
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
PX4_INFO("RC state: %s: %s", _rc_scan_locked ? "found" : "searching for signal", RC_SCAN_STRING[_rc_scan_state]);
if (_rc_scan_locked) {
switch (_rc_scan_state) {
case RC_SCAN_CRSF:
PX4_INFO("CRSF Telemetry: %s", _crsf_telemetry ? "yes" : "no");
break;
case RC_SCAN_SBUS:
PX4_INFO("SBUS frame drops: %u", sbus_dropped_frames());
break;
#if defined(SPEKTRUM_POWER)
case RC_SCAN_DSM:
// DSM status output
break;
#endif
case RC_SCAN_PPM:
// PPM status output
break;
case RC_SCAN_SUMD:
// SUMD status output
break;
case RC_SCAN_ST24:
// SUMD status output
break;
}
}
#if ADC_RC_RSSI_CHANNEL
PX4_INFO("vrssi: %dmV", (int)(_analog_rc_rssi_volt * 1000.0f));
src/drivers/rc_input/RCInput.hpp
+3 -2
View File
@@ -154,6 +154,7 @@ private:
CRSFTelemetry *_crsf_telemetry{nullptr};
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
perf_counter_t _cycle_perf;
perf_counter_t _publish_interval_perf;
uint32_t _bytes_rx{0};
};