mirror of https://github.com/ArduPilot/ardupilot
Plane: added RSSI_RANGE parameter
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@ -180,6 +180,7 @@ public:
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k_param_rssi_pin,
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k_param_battery_volt_pin, // unused
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k_param_battery_curr_pin, // unused - 169
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k_param_rssi_range,
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//
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// 170: Radio settings
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@ -411,6 +412,7 @@ public:
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AP_Int8 flap_2_percent;
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AP_Int8 flap_2_speed;
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AP_Int8 rssi_pin;
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AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.
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AP_Int8 inverted_flight_ch; // 0=disabled, 1-8 is channel for inverted flight trigger
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AP_Int8 stick_mixing;
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AP_Float takeoff_throttle_min_speed;
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@ -753,6 +753,14 @@ const AP_Param::Info var_info[] PROGMEM = {
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// @User: Standard
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GSCALAR(rssi_pin, "RSSI_PIN", -1),
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// @Param: RSSI_RANGE
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// @DisplayName: Receiver RSSI voltage range
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// @Description: Receiver RSSI voltage range
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// @Units: Volt
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// @Values: 3.3:3.3V, 5.0:5V
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// @User: Standard
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GSCALAR(rssi_range, "RSSI_RANGE", 5.0),
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// @Param: INVERTEDFLT_CH
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// @DisplayName: Inverted flight channel
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// @Description: A RC input channel number to enable inverted flight. If this is non-zero then the APM will monitor the correcponding RC input channel and will enable inverted flight when the channel goes above 1750.
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@ -83,12 +83,16 @@ static void read_battery(void)
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// RC_CHANNELS_SCALED message
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void read_receiver_rssi(void)
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{
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// avoid divide by zero
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if (g.rssi_range <= 0) {
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receiver_rssi = 0;
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}else{
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rssi_analog_source->set_pin(g.rssi_pin);
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float ret = rssi_analog_source->voltage_average() * 50;
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float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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}
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/*
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return current_loc.alt adjusted for ALT_OFFSET
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This is useful during long flights to account for barometer changes
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