- use the orb topic safety to check the safety state, because the actual
safety state can come from the IO
- fix initialization if circuit breaker is set
- Telemetry is only enabled on omnibus, since on Pixhawk it seems we cannot
write to the RC UART due to how the board is wired
- For the Telemetry the UART needs to be opened RW
The px4io driver was ignoring the contents of PX4IO_P_RAW_RC_NRSSI
since digital rssi wasn't working properly. This change was made in
commit 41b127d40.
Now that PX4IO_P_RAW_RC_NRSSI is returning valid values for digital
rssi, we can re-enable its use.
On SPM4649T receivers with firmware versions at least 1.1RC9, the
serial data will contain an rssi value in dbm, as outlined in the
Remote Receiver Interfacing document section 8.3.1.
If the value received is greater than or equal to zero, the receiver
does not support rssi data, and the incoming value will be ignored.
However, if the value is negative, we can use the rssi value.
When we have a valid rssi, it gets mapped to a percentage from 0 to
100 as expected by mavlink. This mapping is constructed as a
logarithmic function over Spektrum's published minimum and maximum
rssi values, -92dBm to -42dBm as 0 to 100:
100 Log10[1 + (x - min) * (9 / (max - min))]
This change updates all calls to the dsm input rountes to return
the rssi value.
Note that one place this doesn't work with the px4io enabled.
There is a comment left in the absence of analog rssi that:
"we do not actually get digital RSSI regs[PX4IO_P_RAW_RC_NRSSI]".
This restriction has been left in place, as removing it exposes a
problem where the frequency of the control tick is greater than
that of valid dsm frames so the rssi isn't valid every cycle.
Platforms that provide HW versioning tend to have
more FLASH and can have a PX4IO as an option.
(E.G.) FMUv5. This change provides run time
decision to control the safety switch on
platfors that have BOARD_HAS_VERSIONING.
On platforms with no versioning and have
BOARD_HAS_STATIC_MANIFEST defined as a 1
The decision is compile time only. When a PX4IO
is present the fmu control of the safety is
not built.
Safety Switch is HW version dependent on having an PX4IO
So we init to a benign state with the _INIT definition
and use the non _INIT verion in the driver if the run time
decision is we do not have a PX4IO
The phyical led read was not returing the logical state
of the LED. Since they are active low, when on it was
returning 0 and the the negation operation in togggle
was makeing that a 1 which it already was.
Bob-F