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Code Issues Releases Activity

LP-291 msp_send_analog(): Use OPLinkStatus.RSSI if applicable

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This commit is contained in:
Vladimir Zidar 2016-04-24 01:38:30 +02:00
parent 26d63ee7ac
commit 5d72a9671c
1 changed files with 32 additions and 11 deletions
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25
flight/modules/UAVOMSPBridge/UAVOMSPBridge.c
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@ -446,12 +446,33 @@ static void msp_send_analog(struct msp_bridge *m)
}
}
#endif
// OPLink supports RSSI reported in dBm, but updates different value in ReceiverStatus.Quality (link_quality - function of lost, repaired and good packet count).
// We use same method as in Receiver module to decide if oplink is used for control:
// Check for Throttle channel group, if this belongs to oplink, we will use oplink rssi instead of ReceiverStatus.Quality.
ManualControlSettingsChannelGroupsData channelGroups;
ManualControlSettingsChannelGroupsGet(&channelGroups);
if(channelGroups.Throttle == MANUALCONTROLSETTINGS_CHANNELGROUPS_OPLINK)
{
int8_t rssi;
OPLinkStatusRSSIGet(&rssi);
// oplink rssi - low: -127 noise floor (set by software when link is completely lost)
// max: various articles found on web quote -10 as maximum received signal power expressed in dBm.
// MSP values have no units, and OSD rssi display requires calibration anyway, so we will translate -127 to -10 -> 0-1023
data.status.rssi = ((127 + rssi) * 1023) / (127 - 10);
}
else
{
uint8_t quality;
ReceiverStatusQualityGet(&quality);
// MSP RSSI's range is 0-1023
data.status.rssi = (quality * 1023) / 100;
}
if (data.status.rssi > 1023) {
data.status.rssi = 1023;
@ -545,7 +566,7 @@ static void msp_send_comp_gps(struct msp_bridge *m)
}
msp_send(m, MSP_COMP_GPS, data.buf, sizeof(data));
}
}
}
static void msp_send_altitude(struct msp_bridge *m)
@ -566,7 +587,7 @@ static void msp_send_altitude(struct msp_bridge *m)
data.baro.alt = (int32_t)roundf(baro.Altitude * 100.0f);
msp_send(m, MSP_ALTITUDE, data.buf, sizeof(data));
}
}
}
#endif /* PIOS_EXCLUDE_ADVANCED_FEATURES */