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overwrite rc in rssi with value from pwm input, parameters hardcoded

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Andreas Antener 2015-04-18 23:35:28 +02:00 committed by Lorenz Meier
parent 8279de5a0b
commit 92bdf74423
1 changed files with 10 additions and 0 deletions
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10
src/drivers/px4io/px4io.cpp
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@ -111,6 +111,10 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
#define RC_RSSI_PWM_MAX 1000
#define RC_RSSI_PWM_MIN 1800
#define RC_RSSI_PWM_CHAN 8
/**
* The PX4IO class.
*
@ -1633,6 +1637,12 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
input_rc.values[i] = regs[prolog + i];
}
// get RSSI from channel 8, input range 1000 - 2000
if (RC_RSSI_PWM_CHAN > -1 && RC_RSSI_PWM_CHAN <= RC_INPUT_MAX_CHANNELS) {
input_rc.rssi = (input_rc.values[RC_RSSI_PWM_CHAN - 1] - RC_RSSI_PWM_MIN) *
((RC_RSSI_PWM_MAX - RC_RSSI_PWM_MIN) / 255);
}
return ret;
}