aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_IOMCU: support RSSI from receiver

Browse Source
This commit is contained in:
Andrew Tridgell 2019-12-02 18:46:36 +11:00
parent 63b454d5ce
commit 63c199a600
3 changed files with 7 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_IOMCU/AP_IOMCU.h
View File

@ -71,6 +71,11 @@ public:
// get the name of the RC protocol // get the name of the RC protocol
const char *get_rc_protocol(void); const char *get_rc_protocol(void);
// get receiver RSSI
int16_t get_RSSI(void) const {
return rc_input.rssi;
}
/* /*
get servo rail voltage get servo rail voltage
*/ */

1
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
View File

@ -306,6 +306,7 @@ void AP_IOMCU_FW::rcin_update()
} }
rc_last_input_ms = last_ms; rc_last_input_ms = last_ms;
rc_input.rc_protocol = (uint16_t)AP::RC().protocol_detected(); rc_input.rc_protocol = (uint16_t)AP::RC().protocol_detected();
rc_input.rssi = AP::RC().get_RSSI();
} else if (last_ms - rc_last_input_ms > 200U) { } else if (last_ms - rc_last_input_ms > 200U) {
rc_input.flags_rc_ok = false; rc_input.flags_rc_ok = false;
} }

1
libraries/AP_IOMCU/iofirmware/ioprotocol.h
View File

@ -123,6 +123,7 @@ struct page_rc_input {
uint8_t flags_rc_ok:1; uint8_t flags_rc_ok:1;
uint8_t rc_protocol; uint8_t rc_protocol;
uint16_t pwm[IOMCU_MAX_CHANNELS]; uint16_t pwm[IOMCU_MAX_CHANNELS];
int16_t rssi;
}; };
/* /*