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Encode RC type in RSSI field for GCS

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This commit is contained in:
Lorenz Meier 2014-11-01 16:54:11 +01:00
parent eeda1886f0
commit c442f820dd
1 changed files with 42 additions and 1 deletions
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43
src/modules/mavlink/mavlink_messages.cpp
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@ -1717,7 +1717,48 @@ protected:
msg.chan16_raw = (rc.channel_count > 15) ? rc.values[15] : UINT16_MAX;
msg.chan17_raw = (rc.channel_count > 16) ? rc.values[16] : UINT16_MAX;
msg.chan18_raw = (rc.channel_count > 17) ? rc.values[17] : UINT16_MAX;
msg.rssi = rc.rssi;
/* RSSI has a max value of 100, and when Spektrum or S.BUS are
* available, the RSSI field is invalid, as they do not provide
* an RSSI measurement. Use an out of band magic value to signal
* these digital ports. XXX revise MAVLink spec to address this.
* One option would be to use the top bit to toggle between RSSI
* and input source mode.
*
* Full RSSI field: 0b 1 111 1111
*
* ^ If bit is set, RSSI encodes type + RSSI
*
* ^ These three bits encode a total of 8
* digital RC input types.
* 0: PPM, 1: SBUS, 2: Spektrum, 2: ST24
* ^ These four bits encode a total of
* 16 RSSI levels. 15 = full, 0 = no signal
*
*/
/* Initialize RSSI with the special mode level flag */
msg.rssi = (1 << 7);
/* Set RSSI */
msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
switch (rc.input_source) {
case RC_INPUT_SOURCE_PX4FMU_PPM:
/* fallthrough */
case RC_INPUT_SOURCE_PX4IO_PPM:
msg.rssi |= (0 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SPEKTRUM:
msg.rssi |= (1 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_SBUS:
msg.rssi |= (2 << 4);
break;
case RC_INPUT_SOURCE_PX4IO_ST24:
msg.rssi |= (3 << 4);
break;
}
_mavlink->send_message(MAVLINK_MSG_ID_RC_CHANNELS, &msg);
}