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AP_MSP: fix rssi rounding issue

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yaapu 2021-09-21 22:48:18 +02:00 committed by Andrew Tridgell
parent c425a75cea
commit f33d6c4ec1
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_MSP/AP_MSP_Telem_Backend.cpp
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@ -906,11 +906,10 @@ MSPCommandResult AP_MSP_Telem_Backend::msp_process_out_analog(sbuf_t *dst)
} analog { } analog {
voltage_dv : (uint8_t)constrain_int16(battery_state.batt_voltage_v * 10, 0, 255), // battery voltage V to dV voltage_dv : (uint8_t)constrain_int16(battery_state.batt_voltage_v * 10, 0, 255), // battery voltage V to dV
mah : (uint16_t)constrain_int32(battery_state.batt_consumed_mah, 0, 0xFFFF), // milliamp hours drawn from battery mah : (uint16_t)constrain_int32(battery_state.batt_consumed_mah, 0, 0xFFFF), // milliamp hours drawn from battery
rssi : uint16_t(get_rssi(rssi) ? (uint16_t)constrain_float(rssi,0,1) * 1023 : 0), // rssi 0-1 to 0-1023), // rssi 0-1 to 0-1023 rssi : uint16_t(get_rssi(rssi) ? constrain_float(rssi,0,1) * 1023 : 0), // rssi 0-1 to 0-1023)
current_ca : (int16_t)constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF), // current A to cA (0.01 steps, range is -320A to 320A) current_ca : (int16_t)constrain_int32(battery_state.batt_current_a * 100, -0x8000, 0x7FFF), // current A to cA (0.01 steps, range is -320A to 320A)
voltage_cv : (uint16_t)constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF) // battery voltage in 0.01V steps voltage_cv : (uint16_t)constrain_int32(battery_state.batt_voltage_v * 100,0,0xFFFF) // battery voltage in 0.01V steps
}; };
sbuf_write_data(dst, &analog, sizeof(analog)); sbuf_write_data(dst, &analog, sizeof(analog));
return MSP_RESULT_ACK; return MSP_RESULT_ACK;
} }