Copter: Moving to RSSI library for reading various kinds of RSSI, with the possibility of adding more.

* Retains ability to read from Analog Pin
* Adds ability to read RSSI from PWM channel value as is done in OpenLRSng, EazyUHF, and various other LRS.
* Handles any type of RSSI that provides RSSI values inverted - i.e. when the low value is the best signal and the high value is the worst signal.
* Has different key names from all existing RSSI parameters to provide for a clean break and easier distinguishing.
* Existing parameters are marked as obsolete
This commit is contained in:
Stewart Loving-Gibbard 2015-08-27 23:00:55 -07:00 committed by Andrew Tridgell
parent a315b980bf
commit 7cb494d8e2
7 changed files with 18 additions and 33 deletions

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@ -102,7 +102,6 @@ Copter::Copter(void) :
#if CAMERA == ENABLED
camera(&relay),
#endif
rssi_analog_source(NULL),
#if MOUNT == ENABLED
camera_mount(ahrs, current_loc),
#endif

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@ -75,6 +75,7 @@
#include <AP_Motors/AP_Motors.h> // AP Motors library
#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
#include <AP_RSSI/AP_RSSI.h> // RSSI Library
#include <Filter/Filter.h> // Filter library
#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
#include <AP_Relay/AP_Relay.h> // APM relay
@ -451,9 +452,6 @@ private:
AP_Camera camera;
#endif
// a pin for reading the receiver RSSI voltage.
AP_HAL::AnalogSource* rssi_analog_source;
// Camera/Antenna mount tracking and stabilisation stuff
#if MOUNT == ENABLED
// current_loc uses the baro/gps soloution for altitude rather than gps only.
@ -470,6 +468,9 @@ private:
AP_Rally rally;
#endif
// RSSI
AP_RSSI rssi;
// Crop Sprayer
#if SPRAYER == ENABLED
AC_Sprayer sprayer;

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@ -205,21 +205,6 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @User: Standard
GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
// @Param: RSSI_PIN
// @DisplayName: Receiver RSSI sensing pin
// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum
// @Values: -1:Disabled, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS
// @User: Standard
GSCALAR(rssi_pin, "RSSI_PIN", -1),
// @Param: RSSI_RANGE
// @DisplayName: Receiver RSSI voltage range
// @Description: Receiver RSSI voltage range
// @Units: Volt
// @Values: 3.3:3.3V, 5:5V
// @User: Standard
GSCALAR(rssi_range, "RSSI_RANGE", 5.0f),
// @Param: WP_YAW_BEHAVIOR
// @DisplayName: Yaw behaviour during missions
// @Description: Determines how the autopilot controls the yaw during missions and RTL
@ -1033,6 +1018,10 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
// @Path: ../libraries/AP_Mission/AP_Mission.cpp
GOBJECT(mission, "MIS_", AP_Mission),
// @Group: RSSI_
// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
GOBJECT(rssi, "RSSI_", AP_RSSI),
#if CONFIG_SONAR == ENABLED
// @Group: RNGFND
// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp

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@ -90,7 +90,7 @@ public:
// change
k_param_toy_yaw_rate, // deprecated - remove
k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
k_param_rssi_pin,
k_param_rssi_pin, // unused, replaced by rssi_ library parameters
k_param_throttle_accel_enabled, // deprecated - remove
k_param_wp_yaw_behavior,
k_param_acro_trainer,
@ -105,7 +105,7 @@ public:
k_param_battery,
k_param_fs_batt_mah,
k_param_angle_rate_max, // remove
k_param_rssi_range,
k_param_rssi_range, // unused, replaced by rssi_ library parameters
k_param_rc_feel_rp,
k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
k_param_mission, // mission library
@ -167,6 +167,9 @@ public:
//
k_param_motors = 90,
// 97: RSSI
k_param_rssi = 97,
//
// 100: Inertial Nav
//
@ -375,8 +378,6 @@ public:
AP_Int16 rtl_alt_final;
AP_Int16 rtl_climb_min; // rtl minimum climb in cm
AP_Int8 rssi_pin;
AP_Float rssi_range; // allows to set max voltage for rssi pin such as 5.0, 3.3 etc.
AP_Int8 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
AP_Int8 rc_feel_rp; // controls vehicle response to user input with 0 being extremely soft and 100 begin extremely crisp

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@ -38,6 +38,7 @@ LIBRARIES += RC_Channel
LIBRARIES += AP_Motors
LIBRARIES += AP_RangeFinder
LIBRARIES += AP_OpticalFlow
LIBRARIES += AP_RSSI
LIBRARIES += Filter
LIBRARIES += AP_Buffer
LIBRARIES += AP_Relay

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@ -171,14 +171,7 @@ void Copter::read_battery(void)
// RC_CHANNELS_SCALED message
void Copter::read_receiver_rssi(void)
{
// avoid divide by zero
if (g.rssi_range <= 0) {
receiver_rssi = 0;
}else{
rssi_analog_source->set_pin(g.rssi_pin);
float ret = rssi_analog_source->voltage_average() * 255 / g.rssi_range;
receiver_rssi = constrain_int16(ret, 0, 255);
}
receiver_rssi = rssi.read_receiver_rssi_uint8();
}
#if EPM_ENABLED == ENABLED

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@ -122,9 +122,10 @@ void Copter::init_ardupilot()
// initialise battery monitor
battery.init();
rssi_analog_source = hal.analogin->channel(g.rssi_pin);
// Init RSSI
rssi.init();
barometer.init();
// Register the mavlink service callback. This will run