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APM: added RSSI to RC_CHANNELS_RAW as well 

and prevent double read
This commit is contained in:
Andrew Tridgell 2012-08-22 13:58:25 +10:00
parent 279e942581
commit 56ada1a69c
3 changed files with 11 additions and 10 deletions
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6
ArduPlane/ArduPlane.pde
View File

@ -462,6 +462,10 @@ static int16_t airspeed_nudge_cm;
// 0-(throttle_max - throttle_cruise) : throttle nudge in Auto mode using top 1/2 of throttle stick travel
static int16_t throttle_nudge = 0;
// receiver RSSI
static uint8_t receiver_rssi;
////////////////////////////////////////////////////////////////////////////////
// Ground speed
////////////////////////////////////////////////////////////////////////////////
@ -880,6 +884,8 @@ static void medium_loop()
}
#endif
read_receiver_rssi();
// Read altitude from sensors
// ------------------
update_alt();

4
ArduPlane/GCS_Mavlink.pde
View File

@ -301,7 +301,7 @@ static void NOINLINE send_servo_out(mavlink_channel_t chan)
0,
0,
0,
receiver_rssi());
receiver_rssi);
}
static void NOINLINE send_radio_in(mavlink_channel_t chan)
@ -318,7 +318,7 @@ static void NOINLINE send_radio_in(mavlink_channel_t chan)
g.rc_6.radio_in,
g.rc_7.radio_in,
g.rc_8.radio_in,
receiver_rssi());
receiver_rssi);
}
static void NOINLINE send_radio_out(mavlink_channel_t chan)

11
ArduPlane/sensors.pde
View File

@ -56,17 +56,12 @@ static void read_battery(void)
}
// return receiver RSSI as an 8 bit number for MAVLink
// read the receiver RSSI as an 8 bit number for MAVLink
// RC_CHANNELS_SCALED message
uint8_t receiver_rssi(void)
void read_receiver_rssi(void)
{
#if RECEIVER_RSSI_PIN != -1
float ret = RSSI_pin.read();
if (ret >= 255) {
return 255;
}
return (uint8_t)ret;
#else
return 0;
receiver_rssi = constrain(ret, 0, 255);
#endif
}