LP-190: Final testing and bug fixes.

flight/modules/OPLink/oplinkmod.c

@@ -190,8 +190,6 @@ static void systemTask(__attribute__((unused)) void *parameters)
             oplinkStatus.TXSeq     = radio_stats.tx_seq;
             oplinkStatus.RXSeq     = radio_stats.rx_seq;
             oplinkStatus.LinkState = radio_stats.link_state;
-        } else {
-            oplinkStatus.LinkState = OPLINKSTATUS_LINKSTATE_DISABLED;
         }
 
         if (radio_stats.link_state == OPLINKSTATUS_LINKSTATE_CONNECTED) {

flight/modules/RadioComBridge/RadioComBridge.c

@@ -170,13 +170,13 @@ static int32_t RadioComBridgeStart(void)
         }
 
         // Configure our UAVObjects for updates.
-        UAVObjConnectQueue(UAVObjGetByID(OPLINKSTATUS_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
         UAVObjConnectQueue(UAVObjGetByID(OBJECTPERSISTENCE_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL);
         if (data->isCoordinator) {
             UAVObjConnectQueue(UAVObjGetByID(OPLINKRECEIVER_OBJID), data->radioEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
         } else {
             UAVObjConnectQueue(UAVObjGetByID(OPLINKRECEIVER_OBJID), data->uavtalkEventQueue, EV_UPDATED | EV_UPDATED_MANUAL | EV_UPDATE_REQ);
         }
+        registerObject(OPLinkStatusHandle());
 
         if (data->isCoordinator) {
             registerObject(RadioComBridgeStatsHandle());

flight/pios/common/pios_openlrs.c

@@ -57,8 +57,6 @@ static uint8_t rfmGetRSSI(struct pios_openlrs_dev *openlrs_dev);
 static void to_rx_mode(struct pios_openlrs_dev *openlrs_dev);
 static void tx_packet(struct pios_openlrs_dev *openlrs_dev, uint8_t *pkt, uint8_t size);
 
-static OPLinkStatusData oplink_status;
-
 static struct pios_openlrs_dev *pios_openlrs_alloc();
 static bool pios_openlrs_validate(struct pios_openlrs_dev *openlrs_dev);
 
@@ -789,6 +787,9 @@ static void pios_openlrs_setup(struct pios_openlrs_dev *openlrs_dev, bool bind)
     printVersion(OPENLRSNG_VERSION);
 #endif
 
+    // Get the OPLinkStatus UAVO
+    OPLinkStatusData oplink_status;
+    OPLinkStatusGet(&oplink_status);
     if (bind) {
         oplink_status.LinkState = OPLINKSTATUS_LINKSTATE_BINDING;
         if (pios_openlrs_bind_receive(openlrs_dev, 0)) {
@@ -817,6 +818,9 @@ static void pios_openlrs_setup(struct pios_openlrs_dev *openlrs_dev, bool bind)
     openlrs_dev->link_acquired    = 0;
     openlrs_dev->lastPacketTimeUs = micros();
 
+    // Update the OPLinkStatus UAVO
+    OPLinkStatusSet(&oplink_status);
+
     DEBUG_PRINTF(2, "OpenLRSng RX setup complete\r\n");
 }
 
@@ -835,6 +839,13 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
         to_rx_mode(openlrs_dev);
     }
 
+    // Get the OPLinkStatus UAVO
+    OPLinkStatusData oplink_status;
+    OPLinkStatusGet(&oplink_status);
+
+    // Update the RSSI
+    oplink_status.RSSI = openlrs_dev->rssi;
+
     timeUs = micros();
     timeMs = millis();
 
@@ -922,7 +933,7 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
                     tx_buf[0] |= (0x37 + bytes);
                 } else {
                     // tx_buf[0] lowest 6 bits left at 0
-                    tx_buf[1] = oplink_status.RSSI;
+                    tx_buf[1] = openlrs_dev->rssi;
                     if (FlightBatteryStateHandle()) {
                         FlightBatteryStateData bat;
                         FlightBatteryStateGet(&bat);
@@ -1043,6 +1054,11 @@ static void pios_openlrs_rx_loop(struct pios_openlrs_dev *openlrs_dev)
 
 uint8_t PIOS_OpenLRS_RSSI_Get(void)
 {
+    // Get the OPLinkStatus UAVO
+    OPLinkStatusData oplink_status;
+
+    OPLinkStatusGet(&oplink_status);
+
     if (oplink_status.LinkState != OPLINKSTATUS_LINKSTATE_CONNECTED) {
         return 0;
     } else {
@@ -1286,9 +1302,9 @@ static void pios_openlrs_task(void *parameters)
                 // We timed out to sample RSSI
                 if (openlrs_dev->numberOfLostPackets < 2) {
                     openlrs_dev->lastRSSITimeUs = openlrs_dev->lastPacketTimeUs;
-                    oplink_status.RSSI = rfmGetRSSI(openlrs_dev); // Read the RSSI value
+                    openlrs_dev->rssi = rfmGetRSSI(openlrs_dev); // Read the RSSI value
 
-                    // DEBUG_PRINTF(3, "Sampled RSSI: %d %d\r\n", oplink_status.RSSI, delay);
+                    // DEBUG_PRINTF(3, "Sampled RSSI: %d %d\r\n", openlrs_dev->RSSI, delay);
                 }
             } else {
                 // We timed out because packet was missed

flight/pios/common/pios_rfm22b.c

@@ -602,7 +602,6 @@ void PIOS_RFM22B_SetChannelConfig(uint32_t rfm22b_id, enum rfm22b_datarate datar
     if (!PIOS_RFM22B_Validate(rfm22b_dev)) {
         return;
     }
-    ppm_mode = ppm_mode;
     rfm22b_dev->coordinator   = coordinator;
     rfm22b_dev->ppm_send_mode = ppm_mode && coordinator;
     rfm22b_dev->ppm_recv_mode = ppm_mode && !coordinator;

flight/pios/inc/pios_openlrs_priv.h

@@ -184,6 +184,8 @@ struct pios_openlrs_dev {
     uint8_t      rx_buf[64];
     uint8_t      tx_buf[9];
 
+    int8_t       rssi;
+
     // Variables from OpenLRS for radio control
     uint8_t      hopcount;
     uint32_t     lastPacketTimeUs;

ground/gcs/src/plugins/config/configoplinkwidget.cpp

@@ -268,8 +268,8 @@ void ConfigOPLinkWidget::protocolChanged()
     m_oplink->CustomDeviceID->setEnabled(is_coordinator);
     m_oplink->MinimumChannel->setEnabled(is_receiver || is_coordinator);
     m_oplink->MaximumChannel->setEnabled(is_receiver || is_coordinator);
-    m_oplink->MainPort->setEnabled((is_receiver || is_coordinator) && is_oplm);
+    m_oplink->MainPort->setEnabled(is_oplm);
-    m_oplink->FlexiPort->setEnabled((is_receiver || is_coordinator) && is_oplm);
+    m_oplink->FlexiPort->setEnabled(is_oplm);
     m_oplink->VCPPort->setEnabled((is_receiver || is_coordinator) && is_oplm);
     m_oplink->LinkType->setEnabled(is_enabled && !is_openlrs);
     m_oplink->MaxRFTxPower->setEnabled(is_enabled && !is_openlrs);
@@ -346,7 +346,6 @@ void ConfigOPLinkWidget::updateCustomDeviceID()
 void ConfigOPLinkWidget::unbind()
 {
     if (settingsUpdated) {
-
         // Clear the coordinator ID
         oplinkSettingsObj->getField("CoordID")->setValue(0);
         m_oplink->CoordID->setText("0");

shared/uavobjectdefinition/oplinkstatus.xml

@@ -31,7 +31,7 @@
 
 		<access gcs="readonly" flight="readwrite"/>
 		<telemetrygcs acked="false" updatemode="manual" period="0"/>
-		<telemetryflight acked="false" updatemode="throttled" period="500"/>
+		<telemetryflight acked="false" updatemode="periodic" period="500"/>
 		<logging updatemode="manual" period="0"/>
 	</object>
 </xml>