Clean up RC related metadata, put everything into the RC data page. This ensures atomic reads, makes the reads more efficient and allows for some headroom for more RC flags. The IO driver side is updated as well, however, these flags are not published yet.

1 files changed, 12 insertions, 9 deletions

diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 495447740..32ab2a698 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -87,7 +87,7 @@ static unsigned partial_frame_count;
 
 unsigned sbus_frame_drops;
 
-static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels);
+static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels);
 
 int
 sbus_init(const char *device)
@@ -118,7 +118,7 @@ sbus_init(const char *device)
 }
 
 bool
-sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_channels)
+sbus_input(uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_channels)
 {
 	ssize_t		ret;
 	hrt_abstime	now;
@@ -175,7 +175,7 @@ sbus_input(uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_
 	 * decode it.
 	 */
 	partial_frame_count = 0;
-	return sbus_decode(now, values, num_values, rssi, max_channels);
+	return sbus_decode(now, values, num_values, sbus_failsafe, sbus_frame_drop, max_channels);
 }
 
 /*
@@ -215,7 +215,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = {
 };
 
 static bool
-sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t *rssi, uint16_t max_values)
+sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, bool *sbus_failsafe, bool *sbus_frame_drop, uint16_t max_values)
 {
 	/* check frame boundary markers to avoid out-of-sync cases */
 	if ((frame[0] != 0x0f)) {
@@ -289,20 +289,23 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 	/* decode and handle failsafe and frame-lost flags */
 	if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FAILSAFE_BIT)) { /* failsafe */
 		/* report that we failed to read anything valid off the receiver */
-		*rssi = 0;
+		*sbus_failsafe = true;
+		*sbus_frame_drop = true;
 		return false;
 	}
 	else if (frame[SBUS_FLAGS_BYTE] & (1 << SBUS_FRAMELOST_BIT)) { /* a frame was lost */
-		/* set a special warning flag or try to calculate some kind of RSSI information - to be implemented 
+		/* set a special warning flag
 		 * 
 		 * Attention! This flag indicates a skipped frame only, not a total link loss! Handling this 
 		 * condition as fail-safe greatly reduces the reliability and range of the radio link, 
 		 * e.g. by prematurely issueing return-to-launch!!! */
 
-		*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
+		*sbus_failsafe = false;
+		*sbus_frame_drop = true;
+	} else {
+		*sbus_failsafe = false;
+		*sbus_frame_drop = false;
 	}
 
-	*rssi = 255;
-
 	return true;
 }