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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-21 10:40:42 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-21 10:40:42 +0200 |
| commit | 027919302d9537e4787f1384690a019eb937e458 (patch) | |
| tree | b187fa5a9a382a095b18a2bba535ed07232a4c51 | |
| parent | 9c282cf6d69c60e2e280d1febf21fc96bb6e40cc (diff) | |
| download | px4-firmware-027919302d9537e4787f1384690a019eb937e458.tar.gz px4-firmware-027919302d9537e4787f1384690a019eb937e458.tar.bz2 px4-firmware-027919302d9537e4787f1384690a019eb937e458.zip | |
IO RSSI handling: Fix RSSI for all protocols.
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 21 |
1 files changed, 15 insertions, 6 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index e04ffc940..4ef27718c 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -99,6 +99,9 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool if (*st24_updated) { + /* ensure ADC RSSI is disabled */ + r_setup_features &= ~(PX4IO_P_SETUP_FEATURES_ADC_RSSI); + *rssi = st24_rssi; r_raw_rc_count = st24_channel_count; @@ -116,14 +119,14 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool for (unsigned i = 0; i < n_bytes; i++) { /* set updated flag if one complete packet was parsed */ - st24_rssi = RC_INPUT_RSSI_MAX; + sumd_rssi = RC_INPUT_RSSI_MAX; *sumd_updated |= (OK == sumd_decode(bytes[i], &sumd_rssi, &sumd_rx_count, &sumd_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } if (*sumd_updated) { - *rssi = sumd_rssi; + /* not setting RSSI since SUMD does not provide one */ r_raw_rc_count = sumd_channel_count; r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SUMD; @@ -187,8 +190,8 @@ controls_tick() { /* use 1:1 scaling on 3.3V ADC input */ unsigned mV = counts * 3300 / 4096; - /* scale to 0..253 */ - rssi = mV / 13; + /* scale to 0..253 and lowpass */ + rssi = (rssi * 0.99f) + ((mV / 13) * 0.01f); } } #endif @@ -215,17 +218,23 @@ controls_tick() { if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; - rssi = 255; + unsigned sbus_rssi = 254; if (sbus_frame_drop) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP; - rssi = 100; + sbus_rssi = 100; } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP); } + /* set RSSI to an emulated value if ADC RSSI is off */ + if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) { + rssi = sbus_rssi; + } + if (sbus_failsafe) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; + /* set RSSI to 0 if the decoder senses complete drop, independent of the ADC value */ rssi = 0; } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); |