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px4io: add RC update monotonic count and cleanup unused

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This commit is contained in:
Daniel Agar
2022-04-07 22:01:20 -04:00
parent 889a5aa0b1
commit b24ccc27c9
27 changed files with 167 additions and 323 deletions
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msg/input_rc.msg
+2 -7
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@@ -1,4 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint64 timestamp_sample
uint8 RC_INPUT_SOURCE_UNKNOWN = 0
uint8 RC_INPUT_SOURCE_PX4FMU_PPM = 1
@@ -16,22 +17,16 @@ uint8 RC_INPUT_SOURCE_PX4FMU_DSM = 12
uint8 RC_INPUT_SOURCE_PX4IO_SUMD = 13
uint8 RC_INPUT_SOURCE_PX4FMU_CRSF = 14
uint8 RC_INPUT_SOURCE_PX4FMU_GHST = 15
uint8 input_source # Input source
uint8 RC_INPUT_MAX_CHANNELS = 18 # Maximum number of R/C input channels in the system. S.Bus has up to 18 channels.
uint64 timestamp_last_signal # last valid reception time
uint8 channel_count # number of channels actually being seen
int8 RSSI_MAX = 100
int32 rssi # receive signal strength indicator (RSSI): < 0: Undefined, 0: no signal, 100: full reception
bool rc_failsafe # explicit failsafe flag: true on TX failure or TX out of range , false otherwise. Only the true state is reliable, as there are some (PPM) receivers on the market going into failsafe without telling us explicitly.
bool rc_lost # RC receiver connection status: True,if no frame has arrived in the expected time, false otherwise. True usually means that the receiver has been disconnected, but can also indicate a radio link loss on "stupid" systems. Will remain false, if a RX with failsafe option continues to transmit frames after a link loss.
uint16 rc_lost_frame_count # Number of lost RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
uint16 rc_total_frame_count # Number of total RC frames. Note: intended purpose: observe the radio link quality if RSSI is not available. This value must not be used to trigger any failsafe-alike funtionality.
uint16 rc_ppm_frame_length # Length of a single PPM frame. Zero for non-PPM systems
uint8 input_source # Input source
uint16[18] values # measured pulse widths for each of the supported channels
msg/px4io_status.msg
-9
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@@ -13,17 +13,10 @@ bool status_fmu_ok
bool status_init_ok
bool status_outputs_armed
bool status_raw_pwm
bool status_rc_ok
bool status_rc_dsm
bool status_rc_ppm
bool status_rc_sbus
bool status_rc_st24
bool status_rc_sumd
bool status_safety_off
# PX4IO alarms (PX4IO_P_STATUS_ALARMS)
bool alarm_pwm_error
bool alarm_rc_lost
# PX4IO arming (PX4IO_P_SETUP_ARMING)
bool arming_failsafe_custom
@@ -39,5 +32,3 @@ uint16[8] pwm_disarmed
uint16[8] pwm_failsafe
uint16[8] pwm_rate_hz
uint16[18] raw_inputs