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Merge branch 'master' into linux

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Signed-off-by: Mark Charlebois <charlebm@gmail.com>

Conflicts:
	makefiles/firmware.mk
This commit is contained in:
Mark Charlebois
2015-04-22 10:38:46 -07:00
parent 8e500f543e 67956341e6
commit f63ab3d5e3
22 changed files with 229 additions and 169 deletions
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src/drivers/drv_rc_input.h
+1 -1
View File
@@ -65,7 +65,7 @@
/**
* Maximum RSSI value
*/
#define RC_INPUT_RSSI_MAX 255
#define RC_INPUT_RSSI_MAX 100
/**
* @addtogroup topics
src/drivers/px4io/px4io.cpp
+25 -1
View File
@@ -303,6 +303,10 @@ private:
uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
int32_t _rssi_pwm_chan; ///< RSSI PWM input channel
int32_t _rssi_pwm_max; ///< max RSSI input on PWM channel
int32_t _rssi_pwm_min; ///< min RSSI input on PWM channel
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
#endif
@@ -524,7 +528,10 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_cb_flighttermination(true)
_cb_flighttermination(true),
_rssi_pwm_chan(0),
_rssi_pwm_max(0),
_rssi_pwm_min(0)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
@@ -664,6 +671,10 @@ PX4IO::init()
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Check for IO flight state - if FMU was flagged to be in
* armed state, FMU is recovering from an in-air reset.
@@ -1069,6 +1080,10 @@ PX4IO::task_main()
/* Update Circuit breakers */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
}
}
@@ -1633,6 +1648,15 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
input_rc.values[i] = regs[prolog + i];
}
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
((_rssi_pwm_max - _rssi_pwm_min) / 100);
rssi = rssi > 100 ? 100 : rssi;
rssi = rssi < 0 ? 0 : rssi;
input_rc.rssi = rssi;
}
return ret;
}