From 20e1491002158830c76894f849a3d40c6e2a2105 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Sun, 20 Jul 2014 21:43:17 +0200
Subject: [PATCH] Decode radio status and emit signal. Not used anywhere yet
---
src/comm/MAVLinkProtocol.cc | 10 ++++++++++
src/comm/MAVLinkProtocol.h | 13 +++++++++++++
2 files changed, 23 insertions(+)
diff --git a/src/comm/MAVLinkProtocol.cc b/src/comm/MAVLinkProtocol.cc
index 35b7218a09..ae16ed10ac 100644
--- a/src/comm/MAVLinkProtocol.cc
+++ b/src/comm/MAVLinkProtocol.cc
@@ -308,6 +308,16 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
}
}
+ if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
+ {
+ // process telemetry status message
+ mavlink_radio_status_t rstatus;
+ mavlink_msg_radio_status_decode(&message, &rstatus);
+
+ emit radioStatusChanged(link, rstatus.rxerrors, rstatus.fixed, rstatus.rssi, rstatus.remrssi,
+ rstatus.txbuf, rstatus.noise, rstatus.remnoise);
+ }
+
#if defined(QGC_PROTOBUF_ENABLED)
if (message.msgid == MAVLINK_MSG_ID_EXTENDED_MESSAGE)
diff --git a/src/comm/MAVLinkProtocol.h b/src/comm/MAVLinkProtocol.h
index 158890dbab..16dea03bdc 100644
--- a/src/comm/MAVLinkProtocol.h
+++ b/src/comm/MAVLinkProtocol.h
@@ -276,6 +276,19 @@ signals:
void actionGuardChanged(bool enabled);
/** @brief Emitted if actiion request timeout changed */
void actionRetransmissionTimeoutChanged(int ms);
+ /**
+ * @brief Emitted if a new radio status packet received
+ *
+ * @param rxerrors receive errors
+ * @param fixed count of error corrected packets
+ * @param rssi local signal strength
+ * @param remrssi remote signal strength
+ * @param txbuf how full the tx buffer is as a percentage
+ * @param noise background noise level
+ * @param remnoise remote background noise level
+ */
+ void radioStatusChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi,
+ unsigned txbuf, unsigned noise, unsigned remnoise);
};
#endif // MAVLINKPROTOCOL_H_
--
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