From 0f2f6ccc80c07e8a2657918dbf70c86d634b970b Mon Sep 17 00:00:00 2001
From: Hwurzburg <hwurzburg@yahoo.com>
Date: Mon, 12 Jul 2021 14:03:44 -0500
Subject: [PATCH] AP_HAL_ChibiOS: add Link Quality reporting to RC protocols

---
 libraries/AP_HAL_ChibiOS/RCInput.cpp | 1 +
 libraries/AP_HAL_ChibiOS/RCInput.h   | 5 ++++-
 2 files changed, 5 insertions(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index a12e60730c..dcaa8e674c 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -180,6 +180,7 @@ void RCInput::_timer_tick(void)
         _num_channels = MIN(_num_channels, RC_INPUT_MAX_CHANNELS);
         rcprot.read(_rc_values, _num_channels);
         _rssi = rcprot.get_RSSI();
+        _rx_link_quality = rcprot.get_rx_link_quality();
 #ifndef HAL_NO_UARTDRIVER
         rc_protocol = rcprot.protocol_name();
 #endif
diff --git a/libraries/AP_HAL_ChibiOS/RCInput.h b/libraries/AP_HAL_ChibiOS/RCInput.h
index 1751ea842d..6a35ab0598 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.h
+++ b/libraries/AP_HAL_ChibiOS/RCInput.h
@@ -52,7 +52,9 @@ public:
     int16_t get_rssi(void) override {
         return _rssi;
     }
-
+    int16_t get_rx_link_quality(void) override {
+        return _rx_link_quality;
+    }
     const char *protocol() const override { return last_protocol; }
 
     void _timer_tick(void);
@@ -65,6 +67,7 @@ private:
     uint8_t _num_channels;
     Semaphore rcin_mutex;
     int16_t _rssi = -1;
+    int16_t _rx_link_quality = -1;
     uint32_t _rcin_timestamp_last_signal;
     bool _init;
     const char *last_protocol;