Merge remote-tracking branch 'upstream/master' into fw_autoland_att_tecs_navigator_termination_controlgroups

Conflicts:
	src/modules/px4iofirmware/registers.c

5 files changed, 17 insertions, 9 deletions

diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c
index f630b6f2a..541eed0e1 100644
--- a/src/modules/px4iofirmware/controls.c
+++ b/src/modules/px4iofirmware/controls.c
@@ -50,7 +50,7 @@
 #define RC_CHANNEL_HIGH_THRESH		5000
 #define RC_CHANNEL_LOW_THRESH		-5000
 
-static bool	ppm_input(uint16_t *values, uint16_t *num_values);
+static bool	ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len);
 
 static perf_counter_t c_gather_dsm;
 static perf_counter_t c_gather_sbus;
@@ -94,7 +94,7 @@ controls_tick() {
 	 * other.  Don't do that.
 	 */
 
-	/* receive signal strenght indicator (RSSI). 0 = no connection, 1000: perfect connection */
+	/* receive signal strenght indicator (RSSI). 0 = no connection, 255: perfect connection */
 	uint16_t rssi = 0;
 
 	perf_begin(c_gather_dsm);
@@ -108,7 +108,7 @@ controls_tick() {
 		else
 			r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11;
 
-		rssi = 1000;
+		rssi = 255;
 	}
 	perf_end(c_gather_dsm);
 
@@ -125,11 +125,11 @@ controls_tick() {
 	 * disable the PPM decoder completely if we have S.bus signal.
 	 */
 	perf_begin(c_gather_ppm);
-	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count);
+	bool ppm_updated = ppm_input(r_raw_rc_values, &r_raw_rc_count, &r_page_status[PX4IO_P_STATUS_RC_DATA]);
 	if (ppm_updated) {
 
 		/* XXX sample RSSI properly here */
-		rssi = 1000;
+		rssi = 255;
 
 		r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM;
 	}
@@ -321,7 +321,7 @@ controls_tick() {
 }
 
 static bool
-ppm_input(uint16_t *values, uint16_t *num_values)
+ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
 {
 	bool result = false;
 
@@ -345,6 +345,10 @@ ppm_input(uint16_t *values, uint16_t *num_values)
 		/* clear validity */
 		ppm_last_valid_decode = 0;
 
+		/* store PPM frame length */
+		if (num_values)
+			*frame_len = ppm_frame_length;
+
 		/* good if we got any channels */
 		result = (*num_values > 0);
 	}
diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h
index c10f0167c..e5bef6eb3 100644
--- a/src/modules/px4iofirmware/protocol.h
+++ b/src/modules/px4iofirmware/protocol.h
@@ -128,7 +128,8 @@
 #define PX4IO_P_STATUS_VSERVO			6	/* [2] servo rail voltage in mV */
 #define PX4IO_P_STATUS_VRSSI			7	/* [2] RSSI voltage */
 #define PX4IO_P_STATUS_PRSSI			8	/* [2] RSSI PWM value */
-#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 1000: perfect reception */
+#define PX4IO_P_STATUS_NRSSI			9	/* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
+#define PX4IO_P_STATUS_RC_DATA			10	/* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */
 
 /* array of post-mix actuator outputs, -10000..10000 */
 #define PX4IO_PAGE_ACTUATORS		2		/* 0..CONFIG_ACTUATOR_COUNT-1 */
diff --git a/src/modules/px4iofirmware/registers.c b/src/modules/px4iofirmware/registers.c
index 916b893c4..7ef1aa309 100644
--- a/src/modules/px4iofirmware/registers.c
+++ b/src/modules/px4iofirmware/registers.c
@@ -89,7 +89,9 @@ uint16_t		r_page_status[] = {
 	[PX4IO_P_STATUS_IBATT]			= 0,
 	[PX4IO_P_STATUS_VSERVO]			= 0,
 	[PX4IO_P_STATUS_VRSSI]			= 0,
-	[PX4IO_P_STATUS_PRSSI]			= 0
+	[PX4IO_P_STATUS_PRSSI]			= 0,
+	[PX4IO_P_STATUS_NRSSI]			= 0,
+	[PX4IO_P_STATUS_RC_DATA]		= 0
 };
 
 /**
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c
index 6aca2bd11..11ccd7356 100644
--- a/src/modules/px4iofirmware/sbus.c
+++ b/src/modules/px4iofirmware/sbus.c
@@ -280,7 +280,7 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint
 		*rssi = 100; // XXX magic number indicating bad signal, but not a signal loss (yet)
 	}
 
-	*rssi = 1000;
+	*rssi = 255;
 
 	return true;
 }
diff --git a/src/modules/systemlib/ppm_decode.h b/src/modules/systemlib/ppm_decode.h
index 6c5e15345..5a1ad84da 100644
--- a/src/modules/systemlib/ppm_decode.h
+++ b/src/modules/systemlib/ppm_decode.h
@@ -57,6 +57,7 @@ __BEGIN_DECLS
  * PPM decoder state
  */
 __EXPORT extern uint16_t	ppm_buffer[PPM_MAX_CHANNELS];	/**< decoded PPM channel values */
+__EXPORT extern uint16_t	ppm_frame_length;				/**< length of the decoded PPM frame (includes gap) */
 __EXPORT extern unsigned	ppm_decoded_channels;	/**< count of decoded channels */
 __EXPORT extern hrt_abstime	ppm_last_valid_decode;	/**< timestamp of the last valid decode */