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AP_RSSI: support receiver based RSSI protocols

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This commit is contained in:
Andrew Tridgell 2017-06-20 13:13:15 +10:00
parent a88693c487
commit ca8a2a1f34
2 changed files with 10 additions and 2 deletions
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9
libraries/AP_RSSI/AP_RSSI.cpp
View File

@ -34,7 +34,7 @@ const AP_Param::GroupInfo AP_RSSI::var_info[] = {
// @Param: TYPE
// @DisplayName: RSSI Type
// @Description: Radio Receiver RSSI type. If your radio receiver supports RSSI of some kind, set it here, then set its associated RSSI_XXXXX parameters, if any.
// @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue
// @Values: 0:Disabled,1:AnalogPin,2:RCChannelPwmValue,3:ReceiverProtocol
// @User: Standard
AP_GROUPINFO("TYPE", 0, AP_RSSI, rssi_type, BOARD_RSSI_DEFAULT),
@ -128,6 +128,13 @@ float AP_RSSI::read_receiver_rssi()
case RssiType::RSSI_RC_CHANNEL_VALUE :
receiver_rssi = read_channel_rssi();
break;
case RssiType::RSSI_RECEIVER : {
int16_t rssi = hal.rcin->get_rssi();
if (rssi != -1) {
receiver_rssi = rssi / 255.0;
}
break;
}
default :
receiver_rssi = 0.0f;
break;

3
libraries/AP_RSSI/AP_RSSI.h
View File

@ -24,7 +24,8 @@ public:
enum RssiType {
RSSI_DISABLED = 0,
RSSI_ANALOG_PIN = 1,
RSSI_RC_CHANNEL_VALUE = 2
RSSI_RC_CHANNEL_VALUE = 2,
RSSI_RECEIVER = 3
};
// constructor