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GCS_MAVLink: signal quality reporting

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Peter Barker 2021-11-19 11:03:15 +11:00 committed by Peter Barker
parent f6aeb01994
commit ca232bb510
1 changed files with 10 additions and 1 deletions
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11
libraries/GCS_MAVLink/GCS_Common.cpp
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@ -341,6 +341,15 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, con
return;
}
uint8_t quality_pct = 0;
uint8_t quality;
if (sensor->get_signal_quality_pct(quality_pct)) {
// mavlink defines this field as 0 is unknown, 1 is invalid, 100 is perfect
quality = MAX(quality_pct, 1);
} else {
quality = 0;
}
mavlink_msg_distance_sensor_send(
chan,
AP_HAL::millis(), // time since system boot TODO: take time of measurement
@ -354,7 +363,7 @@ void GCS_MAVLINK::send_distance_sensor(const AP_RangeFinder_Backend *sensor, con
0, // horizontal FOV
0, // vertical FOV
(const float *)nullptr, // quaternion of sensor orientation for MAV_SENSOR_ROTATION_CUSTOM
0); // Signal quality of the sensor. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.
quality); // Signal quality of the sensor. 0 = unknown/unset signal quality, 1 = invalid signal, 100 = perfect signal.
}
// send any and all distance_sensor messages. This starts by sending
// any distance sensors not used by a Proximity sensor, then sends the