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Merge pull request #2061 from PX4/rssi_cleanup

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IO RSSI handling: Fix RSSI for all protocols.
This commit is contained in:
Lorenz Meier
2015-04-21 19:39:08 +02:00
parent a0ad5ec42b 09ae879b82
commit 39f6e13c18
3 changed files with 24 additions and 9 deletions
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2
src/drivers/drv_rc_input.h
View File

@@ -65,7 +65,7 @@
/**
* Maximum RSSI value
*/
#define RC_INPUT_RSSI_MAX 255
#define RC_INPUT_RSSI_MAX 100
/**
* @addtogroup topics

2
src/lib/rc/sumd.c
View File

@@ -269,7 +269,7 @@ int sumd_decode(uint8_t byte, uint8_t *rssi, uint8_t *rx_count, uint16_t *channe
uint8_t _cnt = *rx_count + 1;
*rx_count = _cnt;
*rssi = 255;
*rssi = 100;
/* received Channels */
if ((uint16_t)_rxpacket.length > max_chan_count) {

29
src/modules/px4iofirmware/controls.c
View File

@@ -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;
@@ -187,12 +190,20 @@ 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 / (3300 / RC_INPUT_RSSI_MAX)) * 0.01f);
if (rssi > RC_INPUT_RSSI_MAX) {
rssi = RC_INPUT_RSSI_MAX;
}
}
}
#endif
/* zero RSSI if signal is lost */
if (!(r_raw_rc_flags & (PX4IO_P_RAW_RC_FLAGS_RC_OK))) {
rssi = 0;
}
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated, sumd_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
@@ -215,22 +226,26 @@ controls_tick() {
if (sbus_updated) {
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS;
rssi = 255;
unsigned sbus_rssi = RC_INPUT_RSSI_MAX;
if (sbus_frame_drop) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FRAME_DROP;
rssi = 100;
sbus_rssi = RC_INPUT_RSSI_MAX / 2;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
}
if (sbus_failsafe) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE;
rssi = 0;
} else {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
}
/* set RSSI to an emulated value if ADC RSSI is off */
if (!(r_setup_features & PX4IO_P_SETUP_FEATURES_ADC_RSSI)) {
rssi = sbus_rssi;
}
}
perf_end(c_gather_sbus);