AP_RSSI: Use RC_Channels instead of hal.rcin

This commit is contained in:
Michael du Breuil 2018-04-03 19:18:50 -07:00 committed by Francisco Ferreira
parent ddd32d3339
commit 70b1eb9836
1 changed files with 3 additions and 2 deletions

View File

@ -14,6 +14,7 @@
*/
#include <AP_RSSI/AP_RSSI.h>
#include <RC_Channel/RC_Channel.h>
#include <utility>
extern const AP_HAL::HAL& hal;
@ -129,7 +130,7 @@ float AP_RSSI::read_receiver_rssi()
receiver_rssi = read_channel_rssi();
break;
case RssiType::RSSI_RECEIVER : {
int16_t rssi = hal.rcin->get_rssi();
int16_t rssi = RC_Channels::get_receiver_rssi();
if (rssi != -1) {
receiver_rssi = rssi / 255.0;
}
@ -165,7 +166,7 @@ float AP_RSSI::read_pin_rssi()
// read the RSSI value from a PWM value on a RC channel
float AP_RSSI::read_channel_rssi()
{
uint16_t rssi_channel_value = hal.rcin->read(rssi_channel-1);
uint16_t rssi_channel_value = RC_Channels::get_radio_in(rssi_channel-1);
float channel_rssi = scale_and_constrain_float_rssi(rssi_channel_value, rssi_channel_low_pwm_value, rssi_channel_high_pwm_value);
return channel_rssi;
}