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First stab at implementing better RSSI based connection status estimation, still needs some work and testing

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Lorenz Meier
2013-12-13 18:01:55 +01:00
parent a673fa3926
commit 9883a346a0
6 changed files with 33 additions and 13 deletions
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src/modules/px4iofirmware/controls.c
+17 -4
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@@ -94,6 +94,9 @@ controls_tick() {
* other. Don't do that.
*/
/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
uint16_t rssi = 0;
perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count);
@@ -104,14 +107,15 @@ controls_tick() {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11;
else
r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
rssi = 1000;
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */);
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
r_raw_rc_count = 8;
}
perf_end(c_gather_sbus);
@@ -122,10 +126,19 @@ controls_tick() {
*/
perf_begin(c_gather_ppm);
bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
if (ppm_updated)
if (ppm_updated) {
/* XXX sample RSSI properly here */
rssi = 1000;
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
}
perf_end(c_gather_ppm);
/* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_INPUT_CHANNELS)
r_raw_rc_count = PX4IO_INPUT_CHANNELS;
/*
* In some cases we may have received a frame, but input has still
* been lost.
@@ -221,7 +234,7 @@ controls_tick() {
* This might happen if a protocol-based receiver returns an update
* that contains no channels that we have mapped.
*/
if (assigned_channels == 0) {
if (assigned_channels == 0 || rssi == 0) {
rc_input_lost = true;
} else {
/* set RC OK flag */