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HAL_PX4: support RSSI from receiver protocols

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This commit is contained in:
Andrew Tridgell 2017-06-20 13:12:58 +10:00
parent 9868ffe13b
commit a88693c487
2 changed files with 10 additions and 0 deletions
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4
libraries/AP_HAL_PX4/RCInput.cpp
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@ -118,6 +118,10 @@ void PX4RCInput::_timer_tick(void)
if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) { if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) {
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin); orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin);
if (_rcin.rssi != 0 || _rssi != -1) {
// always zero means not supported
_rssi = _rcin.rssi;
}
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
} }
// note, we rely on the vehicle code checking new_input() // note, we rely on the vehicle code checking new_input()

6
libraries/AP_HAL_PX4/RCInput.h
View File

@ -18,6 +18,11 @@ public:
uint16_t read(uint8_t ch) override; uint16_t read(uint8_t ch) override;
uint8_t read(uint16_t* periods, uint8_t len) override; uint8_t read(uint16_t* periods, uint8_t len) override;
int16_t get_rssi(void) override {
return _rssi;
}
bool set_overrides(int16_t *overrides, uint8_t len) override; bool set_overrides(int16_t *overrides, uint8_t len) override;
bool set_override(uint8_t channel, int16_t override) override; bool set_override(uint8_t channel, int16_t override) override;
void clear_overrides() override; void clear_overrides() override;
@ -35,4 +40,5 @@ private:
bool _override_valid; bool _override_valid;
perf_counter_t _perf_rcin; perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex; pthread_mutex_t rcin_mutex;
int16_t _rssi = -1;
}; };