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Enable RSSI sampling on Pixracer

This commit is contained in:
Lorenz Meier 2016-05-01 14:06:09 +02:00
parent 82aca3d65c
commit b5b4769d1f
3 changed files with 30 additions and 6 deletions
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2
msg/rc_channels.msg
View File

@ -25,6 +25,6 @@ uint64 timestamp_last_valid # Timestamp of last valid RC signal
float32[18] channels # Scaled to -1..1 (throttle: 0..1)
uint8 channel_count # Number of valid channels
int8[21] function # Functions mapping
uint8 rssi # Receive signal strength index
uint8 rssi # Receive signal strength indicator (0-100)
bool signal_lost # Control signal lost, should be checked together with topic timeout
uint32 frame_drop_count # Number of dropped frames

1
src/drivers/boards/px4fmu-v4/board_config.h
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@ -164,6 +164,7 @@ __BEGIN_DECLS
#define ADC_BATTERY_VOLTAGE_CHANNEL 2
#define ADC_BATTERY_CURRENT_CHANNEL 3
#define ADC_5V_RAIL_SENSE 4
#define ADC_RC_RSSI_CHANNEL 11
/* User GPIOs
*

33
src/modules/sensors/sensors.cpp
View File

@ -115,15 +115,15 @@ using namespace DriverFramework;
* IN3 - battery current
* IN4 - 5V sense
* IN10 - spare (we could actually trim these from the set)
* IN11 - spare (we could actually trim these from the set)
* IN11 - spare on FMUv2 & v3, RC RSSI on FMUv4
* IN12 - spare (we could actually trim these from the set)
* IN13 - aux1
* IN14 - aux2
* IN15 - pressure sensor
* IN13 - aux1 on FMUv2, unavaible on v3 & v4
* IN14 - aux2 on FMUv2, unavaible on v3 & v4
* IN15 - pressure sensor on FMUv2, unavaible on v3 & v4
*
* IO:
* IN4 - servo supply rail
* IN5 - analog RSSI
* IN5 - analog RSSI on FMUv2 & v3
*
* The channel definitions (e.g., ADC_BATTERY_VOLTAGE_CHANNEL, ADC_BATTERY_CURRENT_CHANNEL, and ADC_AIRSPEED_VOLTAGE_CHANNEL) are defined in board_config.h
*/
@ -249,6 +249,7 @@ private:
struct airspeed_s _airspeed;
struct rc_parameter_map_s _rc_parameter_map;
float _param_rc_values[rc_parameter_map_s::RC_PARAM_MAP_NCHAN]; /**< parameter values for RC control */
float _analog_rc_rssi_volt; /**< analog RSSI indicator */
math::Matrix<3, 3> _board_rotation; /**< rotation matrix for the orientation that the board is mounted */
math::Matrix<3, 3> _mag_rotation[3]; /**< rotation matrix for the orientation that the external mag0 is mounted */
@ -552,6 +553,7 @@ Sensors::Sensors() :
_airspeed_validator(),
_param_rc_values{},
_analog_rc_rssi_volt(-1.0f),
_board_rotation{},
_mag_rotation{}
{
@ -1697,6 +1699,21 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
}
}
#endif
#ifdef ADC_RC_RSSI_CHANNEL
} else if (ADC_RC_RSSI_CHANNEL == buf_adc[i].am_channel) {
float voltage = (float)(buf_adc[i].am_data) * 3.3f / 4096.0f;
if (voltage > 0.2f) {
if (_analog_rc_rssi_volt < 0.0f) {
_analog_rc_rssi_volt = voltage;
}
_analog_rc_rssi_volt = _analog_rc_rssi_volt * 0.999f + voltage * 0.001f;
}
#endif
}
}
@ -1907,6 +1924,12 @@ Sensors::rc_poll()
_rc.channel_count = rc_input.channel_count;
_rc.rssi = rc_input.rssi;
/* overwrite RSSI if analog RSSI input is present */
if (_analog_rc_rssi_volt > 0.2f) {
_rc.rssi = (_analog_rc_rssi_volt / 3.0f) * 100.0f;
}
_rc.signal_lost = signal_lost;
_rc.timestamp = rc_input.timestamp_last_signal;
_rc.frame_drop_count = rc_input.rc_lost_frame_count;