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px4-firmware
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added parameters to specify range and channel, caping result

This commit is contained in:
Andreas Antener 2015-04-19 14:52:33 +02:00 committed by Lorenz Meier
parent 92bdf74423
commit 9c282cf6d6
2 changed files with 62 additions and 9 deletions
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32
src/drivers/px4io/px4io.cpp
View File

@ -111,10 +111,6 @@ extern device::Device *PX4IO_serial_interface() weak_function;
#define ORB_CHECK_INTERVAL 200000 // 200 ms -> 5 Hz
#define IO_POLL_INTERVAL 20000 // 20 ms -> 50 Hz
#define RC_RSSI_PWM_MAX 1000
#define RC_RSSI_PWM_MIN 1800
#define RC_RSSI_PWM_CHAN 8
/**
* The PX4IO class.
*
@ -307,6 +303,10 @@ private:
uint64_t _battery_last_timestamp;///< last amp hour calculation timestamp
bool _cb_flighttermination; ///< true if the flight termination circuit breaker is enabled
int32_t _rssi_pwm_chan; ///< RSSI PWM input channel
int32_t _rssi_pwm_max; ///< max RSSI input on PWM channel
int32_t _rssi_pwm_min; ///< min RSSI input on PWM channel
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
bool _dsm_vcc_ctl; ///< true if relay 1 controls DSM satellite RX power
#endif
@ -528,7 +528,10 @@ PX4IO::PX4IO(device::Device *interface) :
_battery_amp_bias(0),
_battery_mamphour_total(0),
_battery_last_timestamp(0),
_cb_flighttermination(true)
_cb_flighttermination(true),
_rssi_pwm_chan(0),
_rssi_pwm_max(0),
_rssi_pwm_min(0)
#ifdef CONFIG_ARCH_BOARD_PX4FMU_V1
, _dsm_vcc_ctl(false)
#endif
@ -668,6 +671,10 @@ PX4IO::init()
if (_max_rc_input > RC_INPUT_MAX_CHANNELS)
_max_rc_input = RC_INPUT_MAX_CHANNELS;
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
/*
* Check for IO flight state - if FMU was flagged to be in
* armed state, FMU is recovering from an in-air reset.
@ -1073,6 +1080,10 @@ PX4IO::task_main()
/* Update Circuit breakers */
_cb_flighttermination = circuit_breaker_enabled("CBRK_FLIGHTTERM", CBRK_FLIGHTTERM_KEY);
param_get(param_find("RC_RSSI_PWM_CHAN"), &_rssi_pwm_chan);
param_get(param_find("RC_RSSI_PWM_MAX"), &_rssi_pwm_max);
param_get(param_find("RC_RSSI_PWM_MIN"), &_rssi_pwm_min);
}
}
@ -1637,10 +1648,13 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
input_rc.values[i] = regs[prolog + i];
}
// get RSSI from channel 8, input range 1000 - 2000
if (RC_RSSI_PWM_CHAN > -1 && RC_RSSI_PWM_CHAN <= RC_INPUT_MAX_CHANNELS) {
input_rc.rssi = (input_rc.values[RC_RSSI_PWM_CHAN - 1] - RC_RSSI_PWM_MIN) *
((RC_RSSI_PWM_MAX - RC_RSSI_PWM_MIN) / 255);
/* get RSSI from input channel */
if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
((_rssi_pwm_max - _rssi_pwm_min) / 100);
rssi = rssi > 100 ? 100 : rssi;
rssi = rssi < 0 ? 0 : rssi;
input_rc.rssi = rssi;
}
return ret;

39
src/modules/sensors/sensor_params.c
View File

@ -1360,3 +1360,42 @@ PARAM_DEFINE_FLOAT(RC_ACRO_TH, 0.5f);
*
*/
PARAM_DEFINE_FLOAT(RC_OFFB_TH, 0.5f);
/**
* PWM input channel that provides RSSI.
*
* 0: do not read RSSI from input channel
* 1-18: read RSSI from specified input channel
*
* Specify the range for RSSI input with RC_RSSI_PWM_MIN and RC_RSSI_PWM_MAX parameters.
*
* @min 0
* @max 18
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_CHAN, 0);
/**
* Max input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MAX, 1000);
/**
* Min input value for RSSI reading.
*
* Only used if RC_RSSI_PWM_CHAN > 0
*
* @min 0
* @max 2000
* @group Radio Calibration
*
*/
PARAM_DEFINE_INT32(RC_RSSI_PWM_MIN, 2000);