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FMU driver: Report RSSI for RC

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Move RSSI sampling into FMU driver from sensors
This commit is contained in:
Lorenz Meier
2016-05-01 15:46:55 +02:00
parent 3335d32c0a
commit bdd2070dd7
2 changed files with 58 additions and 28 deletions
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src/modules/sensors/sensors.cpp
-23
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@@ -249,7 +249,6 @@ private:
struct airspeed_s _airspeed;
struct rc_parameter_map_s _rc_parameter_map;
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
float _analog_rc_rssi_volt; /**< analog RSSI indicator */
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */
@@ -553,7 +552,6 @@ Sensors::Sensors() :
_airspeed_validator(),
_param_rc_values{},
_analog_rc_rssi_volt(-1.0f),
_board_rotation{},
_mag_rotation{}
{
@@ -1699,21 +1697,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
#endif
#ifdef ADC_RC_RSSI_CHANNEL
} else if (ADC_RC_RSSI_CHANNEL == buf_adc[i].am_channel) {
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f;
if (voltage > 0.2f) {
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = voltage;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.999f + voltage * 0.001f;
}
#endif
}
}
@@ -1924,12 +1907,6 @@ Sensors::rc_poll()
_rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
/* overwrite RSSI if analog RSSI input is present */
if (_analog_rc_rssi_volt > 0.2f) {
_rc.rssi = (_analog_rc_rssi_volt / 3.0f) * 100.0f;
}
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
_rc.frame_drop_count = rc_input.rc_lost_frame_count;