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author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 23:25:48 +0100 |
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committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-19 23:26:21 +0100 |
commit | 01975619c8ff6ce8a9f8dca126e9a3a9afb9b141 (patch) | |
tree | 36178763c277042581a012e9fe54ff543456ab7a /src/drivers | |
parent | 1f62cede684c50c8af0f3680a670a0e2339fe1ce (diff) | |
parent | 47c226988ccf0e90bda9fe7c106bcdaf8b2e67fd (diff) | |
download | px4-firmware-01975619c8ff6ce8a9f8dca126e9a3a9afb9b141.tar.gz px4-firmware-01975619c8ff6ce8a9f8dca126e9a3a9afb9b141.tar.bz2 px4-firmware-01975619c8ff6ce8a9f8dca126e9a3a9afb9b141.zip |
Merge branch 'sdlog2_timestamp' into beta
Diffstat (limited to 'src/drivers')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 20 |
1 files changed, 13 insertions, 7 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 0ca35d2f2..dede5976d 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -270,7 +270,8 @@ private: orb_advert_t _to_servorail; ///< servorail status orb_advert_t _to_safety; ///< status of safety - actuator_outputs_s _outputs; ///<mixed outputs + actuator_outputs_s _outputs; ///< mixed outputs + servorail_status_s _servorail_status; ///< servorail status bool _primary_pwm_device; ///< true if we are the default PWM output @@ -505,6 +506,7 @@ PX4IO::PX4IO(device::Device *interface) : _mavlink_fd = ::open(MAVLINK_LOG_DEVICE, 0); _debug_enabled = true; + _servorail_status.rssi_v = 0; } PX4IO::~PX4IO() @@ -1331,19 +1333,18 @@ PX4IO::io_handle_battery(uint16_t vbatt, uint16_t ibatt) void PX4IO::io_handle_vservo(uint16_t vservo, uint16_t vrssi) { - servorail_status_s servorail_status; - servorail_status.timestamp = hrt_absolute_time(); + _servorail_status.timestamp = hrt_absolute_time(); /* voltage is scaled to mV */ - servorail_status.voltage_v = vservo * 0.001f; - servorail_status.rssi_v = vrssi * 0.001f; + _servorail_status.voltage_v = vservo * 0.001f; + _servorail_status.rssi_v = vrssi * 0.001f; /* lazily publish the servorail voltages */ if (_to_servorail > 0) { - orb_publish(ORB_ID(servorail_status), _to_servorail, &servorail_status); + orb_publish(ORB_ID(servorail_status), _to_servorail, &_servorail_status); } else { - _to_servorail = orb_advertise(ORB_ID(servorail_status), &servorail_status); + _to_servorail = orb_advertise(ORB_ID(servorail_status), &_servorail_status); } } @@ -1450,6 +1451,11 @@ PX4IO::io_publish_raw_rc() rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; } + /* set RSSI */ + + // XXX the correct scaling needs to be validated here + rc_val.rssi = (_servorail_status.rssi_v / 3.3f) * UINT8_MAX; + /* lazily advertise on first publication */ if (_to_input_rc == 0) { _to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_val); |