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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 18:01:55 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-13 18:01:55 +0100 |
| commit | 9883a346a022131b20a292d96a87f20fb7921b1c (patch) | |
| tree | 2f4c1b2c034e735dbc8f13319cce513659cf276b /src/modules/px4iofirmware/controls.c | |
| parent | a673fa3926d18163841f817c08bf089a0a8224f7 (diff) | |
| download | px4-firmware-9883a346a022131b20a292d96a87f20fb7921b1c.tar.gz px4-firmware-9883a346a022131b20a292d96a87f20fb7921b1c.tar.bz2 px4-firmware-9883a346a022131b20a292d96a87f20fb7921b1c.zip | |
First stab at implementing better RSSI based connection status estimation, still needs some work and testing
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 21 |
1 files changed, 17 insertions, 4 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 5c621cfb2..194d8aab9 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -94,6 +94,9 @@ controls_tick() { * other. Don't do that. */ + /* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */ + uint16_t rssi = 0; + perf_begin(c_gather_dsm); uint16_t temp_count = r_raw_rc_count; bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); @@ -104,14 +107,15 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; else r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + + rssi = 1000; } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */); + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, &rssi, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */); if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; - r_raw_rc_count = 8; } perf_end(c_gather_sbus); @@ -122,10 +126,19 @@ controls_tick() { */ perf_begin(c_gather_ppm); bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count); - if (ppm_updated) + if (ppm_updated) { + + /* XXX sample RSSI properly here */ + rssi = 1000; + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; + } perf_end(c_gather_ppm); + /* limit number of channels to allowable data size */ + if (r_raw_rc_count > PX4IO_INPUT_CHANNELS) + r_raw_rc_count = PX4IO_INPUT_CHANNELS; + /* * In some cases we may have received a frame, but input has still * been lost. @@ -221,7 +234,7 @@ controls_tick() { * This might happen if a protocol-based receiver returns an update * that contains no channels that we have mapped. */ - if (assigned_channels == 0) { + if (assigned_channels == 0 || rssi == 0) { rc_input_lost = true; } else { /* set RC OK flag */ |