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GCS_MAVLINK: add receiver_rssi() method, and use it

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olliw42 2021-08-24 16:17:24 +02:00 committed by Peter Barker
parent 70764bfaeb
commit bacfe82c66
2 changed files with 20 additions and 13 deletions
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2
libraries/GCS_MAVLink/GCS.h
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@ -549,6 +549,8 @@ protected:
void manual_override(RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false); void manual_override(RC_Channel *c, int16_t value_in, uint16_t offset, float scaler, const uint32_t tnow, bool reversed = false);
uint8_t receiver_rssi() const;
/* /*
correct an offboard timestamp in microseconds to a local time correct an offboard timestamp in microseconds to a local time
since boot in milliseconds since boot in milliseconds

31
libraries/GCS_MAVLink/GCS_Common.cpp
View File

@ -1636,12 +1636,6 @@ void GCS_MAVLINK::send_system_time()
*/ */
void GCS_MAVLINK::send_rc_channels() const void GCS_MAVLINK::send_rc_channels() const
{ {
AP_RSSI *rssi = AP::rssi();
uint8_t receiver_rssi = 0;
if (rssi != nullptr) {
receiver_rssi = rssi->read_receiver_rssi_uint8();
}
uint16_t values[18] = {}; uint16_t values[18] = {};
rc().get_radio_in(values, ARRAY_SIZE(values)); rc().get_radio_in(values, ARRAY_SIZE(values));
@ -1667,7 +1661,7 @@ void GCS_MAVLINK::send_rc_channels() const
values[15], values[15],
values[16], values[16],
values[17], values[17],
receiver_rssi); receiver_rssi());
} }
bool GCS_MAVLINK::sending_mavlink1() const bool GCS_MAVLINK::sending_mavlink1() const
@ -1687,11 +1681,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
if (!sending_mavlink1()) { if (!sending_mavlink1()) {
return; return;
} }
AP_RSSI *rssi = AP::rssi();
uint8_t receiver_rssi = 0;
if (rssi != nullptr) {
receiver_rssi = rssi->read_receiver_rssi_uint8();
}
uint16_t values[8] = {}; uint16_t values[8] = {};
rc().get_radio_in(values, ARRAY_SIZE(values)); rc().get_radio_in(values, ARRAY_SIZE(values));
@ -1707,7 +1697,7 @@ void GCS_MAVLINK::send_rc_channels_raw() const
values[5], values[5],
values[6], values[6],
values[7], values[7],
receiver_rssi); receiver_rssi());
} }
void GCS_MAVLINK::send_raw_imu() void GCS_MAVLINK::send_raw_imu()
@ -5486,6 +5476,21 @@ void GCS_MAVLINK::manual_override(RC_Channel *c, int16_t value_in, const uint16_
c->set_override(override_value, tnow); c->set_override(override_value, tnow);
} }
uint8_t GCS_MAVLINK::receiver_rssi() const
{
AP_RSSI *aprssi = AP::rssi();
if (aprssi == nullptr) {
return 255;
}
if (!aprssi->enabled()) {
return 255;
}
uint8_t rssi = aprssi->read_receiver_rssi() * 255;
return (rssi < 255) ? rssi : 254;
}
GCS &gcs() GCS &gcs()
{ {
return *GCS::get_singleton(); return *GCS::get_singleton();