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ADC: replace ioctl with uorb message (#14087)

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This commit is contained in:
SalimTerryLi
2020-03-20 18:23:32 +08:00
committed by GitHub
parent 40af5b0fbe
commit dc8e775d8f
30 changed files with 345 additions and 486 deletions
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11
src/drivers/rc_input/RCInput.cpp
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@@ -308,16 +308,17 @@ void RCInput::Run()
adc_report_s adc;
if (_adc_sub.update(&adc)) {
const unsigned adc_chans = sizeof(adc.channel_id) / sizeof(adc.channel_id[0]);
for (unsigned i = 0; i < adc_chans; i++) {
for (unsigned i = 0; i < PX4_MAX_ADC_CHANNELS; ++i) {
if (adc.channel_id[i] == ADC_RC_RSSI_CHANNEL) {
float adc_volt = adc.raw_data[i] *
adc.v_ref /
adc.resolution;
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = adc.channel_value[i];
_analog_rc_rssi_volt = adc_volt;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc.channel_value[i] * 0.005f;
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.995f + adc_volt * 0.005f;
/* only allow this to be used if we see a high RSSI once */
if (_analog_rc_rssi_volt > 2.5f) {