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AP_HAL_PX4: send statustext for RC input decoding type

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Peter Barker 2017-05-29 12:11:51 +10:00 committed by Francisco Ferreira
parent 2463bfd2ec
commit 48c4e48225
2 changed files with 33 additions and 0 deletions
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30
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -8,6 +8,8 @@
#include <drivers/drv_hrt.h> #include <drivers/drv_hrt.h>
#include <uORB/uORB.h> #include <uORB/uORB.h>
#include <GCS_MAVLink/GCS.h>
using namespace PX4; using namespace PX4;
extern const AP_HAL::HAL& hal; extern const AP_HAL::HAL& hal;
@ -38,6 +40,10 @@ bool PX4RCInput::new_input()
_last_read = _rcin.timestamp_last_signal; _last_read = _rcin.timestamp_last_signal;
_override_valid = false; _override_valid = false;
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
if (_rcin.input_source != last_input_source) {
gcs().send_text(MAV_SEVERITY_DEBUG, "RCInput: decoding %s\n", input_source_name(_rcin.input_source));
last_input_source = _rcin.input_source;
}
return valid; return valid;
} }
@ -111,6 +117,30 @@ void PX4RCInput::clear_overrides()
} }
} }
const char *PX4RCInput::input_source_name(uint8_t id) const
{
switch(id) {
case input_rc_s::RC_INPUT_SOURCE_UNKNOWN: return "UNKNOWN";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM: return "PX4FMU_PPM";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_PPM: return "PX4IO_PPM";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_SPEKTRUM: return "PX4IO_SPEKTRUM";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_SBUS: return "PX4IO_SBUS";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24: return "PX4IO_ST24";
case input_rc_s::RC_INPUT_SOURCE_MAVLINK: return "MAVLINK";
case input_rc_s::RC_INPUT_SOURCE_QURT: return "QURT";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_SPEKTRUM: return "PX4FMU_SPEKTRUM";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS: return "PX4FMU_SBUS";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24: return "PX4FMU_ST24";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD: return "PX4FMU_SUMD";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM: return "PX4FMU_DSM";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_SUMD: return "PX4IO_SUMD";
case input_rc_s::RC_INPUT_SOURCE_PX4FMU_SRXL: return "PX4FMU_SRXL";
case input_rc_s::RC_INPUT_SOURCE_PX4IO_SRXL: return "PX4IO_SRXL";
default: return "ERROR";
}
}
void PX4RCInput::_timer_tick(void) void PX4RCInput::_timer_tick(void)
{ {
perf_begin(_perf_rcin); perf_begin(_perf_rcin);

3
libraries/AP_HAL_PX4/RCInput.h
View File

@ -41,4 +41,7 @@ private:
perf_counter_t _perf_rcin; perf_counter_t _perf_rcin;
pthread_mutex_t rcin_mutex; pthread_mutex_t rcin_mutex;
int16_t _rssi = -1; int16_t _rssi = -1;
uint8_t last_input_source = input_rc_s::RC_INPUT_SOURCE_UNKNOWN;
const char *input_source_name(uint8_t id) const;
}; };