mirror of https://github.com/ArduPilot/ardupilot
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
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@ -102,7 +102,6 @@ Copter::Copter(void) :
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#if CAMERA == ENABLED
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camera(&relay),
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#endif
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rssi_analog_source(NULL),
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#if MOUNT == ENABLED
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camera_mount(ahrs, current_loc),
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#endif
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@ -75,6 +75,7 @@
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#include <AP_Motors/AP_Motors.h> // AP Motors library
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#include <AP_RangeFinder/AP_RangeFinder.h> // Range finder library
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#include <AP_OpticalFlow/AP_OpticalFlow.h> // Optical Flow library
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#include <AP_RSSI/AP_RSSI.h> // RSSI Library
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#include <Filter/Filter.h> // Filter library
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#include <AP_Buffer/AP_Buffer.h> // APM FIFO Buffer
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#include <AP_Relay/AP_Relay.h> // APM relay
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@ -451,9 +452,6 @@ private:
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AP_Camera camera;
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#endif
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// a pin for reading the receiver RSSI voltage.
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AP_HAL::AnalogSource* rssi_analog_source;
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// Camera/Antenna mount tracking and stabilisation stuff
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#if MOUNT == ENABLED
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// current_loc uses the baro/gps soloution for altitude rather than gps only.
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@ -470,6 +468,9 @@ private:
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AP_Rally rally;
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#endif
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// RSSI
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AP_RSSI rssi;
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// Crop Sprayer
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#if SPRAYER == ENABLED
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AC_Sprayer sprayer;
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@ -205,21 +205,6 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
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// @User: Standard
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GSCALAR(rtl_climb_min, "RTL_CLIMB_MIN", RTL_CLIMB_MIN_DEFAULT),
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// @Param: RSSI_PIN
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// @DisplayName: Receiver RSSI sensing pin
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// @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is RSSI_RANGE for max rssi, 0V for minimum
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// @Values: -1:Disabled, 0:APM2 A0, 1:APM2 A1, 2:APM2 A2, 13:APM2 A13, 103:Pixhawk SBUS
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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, 5:5V
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// @User: Standard
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GSCALAR(rssi_range, "RSSI_RANGE", 5.0f),
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// @Param: WP_YAW_BEHAVIOR
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// @DisplayName: Yaw behaviour during missions
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// @Description: Determines how the autopilot controls the yaw during missions and RTL
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@ -1033,6 +1018,10 @@ const AP_Param::Info Copter::var_info[] PROGMEM = {
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// @Path: ../libraries/AP_Mission/AP_Mission.cpp
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GOBJECT(mission, "MIS_", AP_Mission),
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// @Group: RSSI_
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// @Path: ../libraries/AP_RSSI/AP_RSSI.cpp
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GOBJECT(rssi, "RSSI_", AP_RSSI),
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#if CONFIG_SONAR == ENABLED
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// @Group: RNGFND
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// @Path: ../libraries/AP_RangeFinder/RangeFinder.cpp
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@ -90,7 +90,7 @@ public:
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// change
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k_param_toy_yaw_rate, // deprecated - remove
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k_param_crosstrack_min_distance, // deprecated - remove with next eeprom number change
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k_param_rssi_pin,
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k_param_rssi_pin, // unused, replaced by rssi_ library parameters
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k_param_throttle_accel_enabled, // deprecated - remove
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k_param_wp_yaw_behavior,
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k_param_acro_trainer,
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@ -105,7 +105,7 @@ public:
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k_param_battery,
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k_param_fs_batt_mah,
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k_param_angle_rate_max, // remove
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k_param_rssi_range,
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k_param_rssi_range, // unused, replaced by rssi_ library parameters
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k_param_rc_feel_rp,
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k_param_NavEKF, // Extended Kalman Filter Inertial Navigation Group
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k_param_mission, // mission library
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@ -167,6 +167,9 @@ public:
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//
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k_param_motors = 90,
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// 97: RSSI
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k_param_rssi = 97,
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//
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// 100: Inertial Nav
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//
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@ -375,8 +378,6 @@ public:
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AP_Int16 rtl_alt_final;
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AP_Int16 rtl_climb_min; // rtl minimum climb in cm
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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 wp_yaw_behavior; // controls how the autopilot controls yaw during missions
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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
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LIBRARIES += AP_Motors
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LIBRARIES += AP_RangeFinder
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LIBRARIES += AP_OpticalFlow
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LIBRARIES += AP_RSSI
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LIBRARIES += Filter
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LIBRARIES += AP_Buffer
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LIBRARIES += AP_Relay
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@ -171,14 +171,7 @@ void Copter::read_battery(void)
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// RC_CHANNELS_SCALED message
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void Copter::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() * 255 / g.rssi_range;
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receiver_rssi = constrain_int16(ret, 0, 255);
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}
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receiver_rssi = rssi.read_receiver_rssi_uint8();
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}
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#if EPM_ENABLED == ENABLED
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@ -122,9 +122,10 @@ void Copter::init_ardupilot()
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// initialise battery monitor
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battery.init();
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rssi_analog_source = hal.analogin->channel(g.rssi_pin);
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// Init RSSI
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rssi.init();
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barometer.init();
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// Register the mavlink service callback. This will run
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