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Commit 22f6b1a4 authored by Gus Grubba's avatar Gus Grubba Committed by GitHub
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Merge pull request #5110 from dogmaphobic/telemetryRSSI 

Telemetry RSSI
parents a7985ec0 dc9cbc4d
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Showing with 89 additions and 85 deletions
src/Vehicle/Vehicle.cc
View file @ 22f6b1a4
......@@ -165,7 +165,6 @@ Vehicle::Vehicle(LinkInterface* link,
_mavlink = qgcApp()->toolbox()->mavlinkProtocol();
connect(_mavlink, &MAVLinkProtocol::messageReceived, this, &Vehicle::_mavlinkMessageReceived);
connect(_mavlink, &MAVLinkProtocol::radioStatusChanged, this, &Vehicle::_telemetryChanged);
connect(this, &Vehicle::_sendMessageOnLinkOnThread, this, &Vehicle::_sendMessageOnLink, Qt::QueuedConnection);
connect(this, &Vehicle::flightModeChanged, this, &Vehicle::_handleFlightModeChanged);
......@@ -445,37 +444,6 @@ void Vehicle::resetCounters()
_heardFrom = false;
}
void Vehicle::_telemetryChanged(LinkInterface*, unsigned rxerrors, unsigned fixed, int rssi, int remrssi, unsigned txbuf, unsigned noise, unsigned remnoise)
{
if(_telemetryLRSSI != rssi) {
_telemetryLRSSI = rssi;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if(_telemetryRRSSI != remrssi) {
_telemetryRRSSI = remrssi;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
if(_telemetryRXErrors != rxerrors) {
_telemetryRXErrors = rxerrors;
emit telemetryRXErrorsChanged(_telemetryRXErrors);
}
if(_telemetryFixed != fixed) {
_telemetryFixed = fixed;
emit telemetryFixedChanged(_telemetryFixed);
}
if(_telemetryTXBuffer != txbuf) {
_telemetryTXBuffer = txbuf;
emit telemetryTXBufferChanged(_telemetryTXBuffer);
}
if(_telemetryLNoise != noise) {
_telemetryLNoise = noise;
emit telemetryLNoiseChanged(_telemetryLNoise);
}
if(_telemetryRNoise != remnoise) {
_telemetryRNoise = remnoise;
emit telemetryRNoiseChanged(_telemetryRNoise);
}
}
void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message)
{
......@@ -529,6 +497,9 @@ void Vehicle::_mavlinkMessageReceived(LinkInterface* link, mavlink_message_t mes
case MAVLINK_MSG_ID_HEARTBEAT:
_handleHeartbeat(message);
break;
case MAVLINK_MSG_ID_RADIO_STATUS:
_handleRadioStatus(message);
break;
case MAVLINK_MSG_ID_RC_CHANNELS:
_handleRCChannels(message);
break;
......@@ -1018,6 +989,64 @@ void Vehicle::_handleHeartbeat(mavlink_message_t& message)
}
}
void Vehicle::_handleRadioStatus(mavlink_message_t& message)
{
//-- Process telemetry status message
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(&message, &rstatus);
int rssi = rstatus.rssi;
int remrssi = rstatus.remrssi;
int lnoise = (int)(int8_t)rstatus.noise;
int rnoise = (int)(int8_t)rstatus.remnoise;
//-- 3DR Si1k radio needs rssi fields to be converted to dBm
if (message.sysid == '3' && message.compid == 'D') {
/* Per the Si1K datasheet figure 23.25 and SI AN474 code
* samples the relationship between the RSSI register
* and received power is as follows:
*
* 10
* inputPower = rssi * ------ 127
* 19
*
* Additionally limit to the only realistic range [-120,0] dBm
*/
rssi = qMin(qMax(qRound(static_cast<qreal>(rssi) / 1.9 - 127.0), - 120), 0);
remrssi = qMin(qMax(qRound(static_cast<qreal>(remrssi) / 1.9 - 127.0), - 120), 0);
} else {
rssi = (int)(int8_t)rstatus.rssi;
remrssi = (int)(int8_t)rstatus.remrssi;
}
//-- Check for changes
if(_telemetryLRSSI != rssi) {
_telemetryLRSSI = rssi;
emit telemetryLRSSIChanged(_telemetryLRSSI);
}
if(_telemetryRRSSI != remrssi) {
_telemetryRRSSI = remrssi;
emit telemetryRRSSIChanged(_telemetryRRSSI);
}
if(_telemetryRXErrors != rstatus.rxerrors) {
_telemetryRXErrors = rstatus.rxerrors;
emit telemetryRXErrorsChanged(_telemetryRXErrors);
}
if(_telemetryFixed != rstatus.fixed) {
_telemetryFixed = rstatus.fixed;
emit telemetryFixedChanged(_telemetryFixed);
}
if(_telemetryTXBuffer != rstatus.txbuf) {
_telemetryTXBuffer = rstatus.txbuf;
emit telemetryTXBufferChanged(_telemetryTXBuffer);
}
if(_telemetryLNoise != lnoise) {
_telemetryLNoise = lnoise;
emit telemetryLNoiseChanged(_telemetryLNoise);
}
if(_telemetryRNoise != rnoise) {
_telemetryRNoise = rnoise;
emit telemetryRNoiseChanged(_telemetryRNoise);
}
}
void Vehicle::_handleRCChannels(mavlink_message_t& message)
{
mavlink_rc_channels_t channels;
......
src/Vehicle/Vehicle.h
View file @ 22f6b1a4
......@@ -308,8 +308,8 @@ public:
Q_PROPERTY(unsigned int telemetryRXErrors READ telemetryRXErrors NOTIFY telemetryRXErrorsChanged)
Q_PROPERTY(unsigned int telemetryFixed READ telemetryFixed NOTIFY telemetryFixedChanged)
Q_PROPERTY(unsigned int telemetryTXBuffer READ telemetryTXBuffer NOTIFY telemetryTXBufferChanged)
Q_PROPERTY(unsigned int telemetryLNoise READ telemetryLNoise NOTIFY telemetryLNoiseChanged)
Q_PROPERTY(unsigned int telemetryRNoise READ telemetryRNoise NOTIFY telemetryRNoiseChanged)
Q_PROPERTY(int telemetryLNoise READ telemetryLNoise NOTIFY telemetryLNoiseChanged)
Q_PROPERTY(int telemetryRNoise READ telemetryRNoise NOTIFY telemetryRNoiseChanged)
Q_PROPERTY(QVariantList toolBarIndicators READ toolBarIndicators CONSTANT)
Q_PROPERTY(QVariantList cameraList READ cameraList CONSTANT)
......@@ -590,8 +590,8 @@ public:
unsigned int telemetryRXErrors () { return _telemetryRXErrors; }
unsigned int telemetryFixed () { return _telemetryFixed; }
unsigned int telemetryTXBuffer () { return _telemetryTXBuffer; }
unsigned int telemetryLNoise () { return _telemetryLNoise; }
unsigned int telemetryRNoise () { return _telemetryRNoise; }
int telemetryLNoise () { return _telemetryLNoise; }
int telemetryRNoise () { return _telemetryRNoise; }
bool autoDisarm ();
Fact* roll (void) { return &_rollFact; }
......@@ -730,8 +730,8 @@ signals:
void telemetryRXErrorsChanged (unsigned int value);
void telemetryFixedChanged (unsigned int value);
void telemetryTXBufferChanged (unsigned int value);
void telemetryLNoiseChanged (unsigned int value);
void telemetryRNoiseChanged (unsigned int value);
void telemetryLNoiseChanged (int value);
void telemetryRNoiseChanged (int value);
void autoDisarmChanged (void);
void firmwareMajorVersionChanged(int major);
......@@ -770,7 +770,6 @@ signals:
private slots:
void _mavlinkMessageReceived(LinkInterface* link, mavlink_message_t message);
void _telemetryChanged(LinkInterface* link, unsigned rxerrors, unsigned fixed, int rssi, int remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);
void _linkInactiveOrDeleted(LinkInterface* link);
void _sendMessageOnLink(LinkInterface* link, mavlink_message_t message);
void _sendMessageMultipleNext(void);
......@@ -810,6 +809,7 @@ private:
void _startJoystick(bool start);
void _handleHomePosition(mavlink_message_t& message);
void _handleHeartbeat(mavlink_message_t& message);
void _handleRadioStatus(mavlink_message_t& message);
void _handleRCChannels(mavlink_message_t& message);
void _handleRCChannelsRaw(mavlink_message_t& message);
void _handleBatteryStatus(mavlink_message_t& message);
......@@ -900,8 +900,8 @@ private:
uint32_t _telemetryRXErrors;
uint32_t _telemetryFixed;
uint32_t _telemetryTXBuffer;
uint32_t _telemetryLNoise;
uint32_t _telemetryRNoise;
int _telemetryLNoise;
int _telemetryRNoise;
bool _vehicleCapabilitiesKnown;
bool _supportsMissionItemInt;
......
src/comm/MAVLinkProtocol.cc
View file @ 22f6b1a4
......@@ -208,39 +208,6 @@ void MAVLinkProtocol::receiveBytes(LinkInterface* link, QByteArray b)
link->setDecodedFirstMavlinkPacket(true);
}
if(message.msgid == MAVLINK_MSG_ID_RADIO_STATUS)
{
// process telemetry status message
mavlink_radio_status_t rstatus;
mavlink_msg_radio_status_decode(&message, &rstatus);
int rssi = rstatus.rssi;
int remrssi = rstatus.remrssi;
int noise = rstatus.noise;
int remnoise = rstatus.remnoise;
// 3DR Si1k radio needs rssi fields to be converted to dBm
if (message.sysid == '3' && message.compid == 'D') {
/* Per the Si1K datasheet figure 23.25 and SI AN474 code
* samples the relationship between the RSSI register
* and received power is as follows:
*
* 10
* inputPower = rssi * ------ 127
* 19
*
* Additionally limit to the only realistic range [-120,0] dBm
*/
rssi = qMin(qMax(qRound(static_cast<qreal>(rssi) / 1.9 - 127.0), - 120), 0);
remrssi = qMin(qMax(qRound(static_cast<qreal>(remrssi) / 1.9 - 127.0), - 120), 0);
} else {
rssi = (int8_t) rstatus.rssi;
remrssi = (int8_t) rstatus.remrssi;
noise = (int8_t) rstatus.noise;
remnoise = (int8_t) rstatus.remnoise;
}
emit radioStatusChanged(link, rstatus.rxerrors, rstatus.fixed, rssi, remrssi,
rstatus.txbuf, noise, remnoise);
}
#ifndef __mobile__
// Log data
......
src/ui/toolbar/TelemetryRSSIIndicator.qml
View file @ 22f6b1a4
......@@ -20,16 +20,14 @@ import QGroundControl.Palette 1.0
//-------------------------------------------------------------------------
//-- Telemetry RSSI
QGCColoredImage {
anchors.top: parent.top
anchors.bottom: parent.bottom
sourceSize.height: height
source: "/qmlimages/TelemRSSI.svg"
fillMode: Image.PreserveAspectFit
color: qgcPal.buttonText
visible: _activeVehicle ? (_activeVehicle.telemetryLRSSI < 0) : false
Item {
anchors.top: parent.top
anchors.bottom: parent.bottom
width: _hasTelemetry ? telemIcon.width * 1.1 : 0
visible: _hasTelemetry
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property var _activeVehicle: QGroundControl.multiVehicleManager.activeVehicle
property bool _hasTelemetry: _activeVehicle ? _activeVehicle.telemetryLRSSI !== 0 : false
Component {
id: telemRSSIInfo
......@@ -58,9 +56,9 @@ QGCColoredImage {
columns: 2
anchors.horizontalCenter: parent.horizontalCenter
QGCLabel { text: qsTr("Local RSSI:") }
QGCLabel { text: _activeVehicle.telemetryLRSSI + " dBm" }
QGCLabel { text: _activeVehicle.telemetryLRSSI + " dBm"}
QGCLabel { text: qsTr("Remote RSSI:") }
QGCLabel { text: _activeVehicle.telemetryRRSSI + " dBm" }
QGCLabel { text: _activeVehicle.telemetryRRSSI + " dBm"}
QGCLabel { text: qsTr("RX Errors:") }
QGCLabel { text: _activeVehicle.telemetryRXErrors }
QGCLabel { text: qsTr("Errors Fixed:") }
......@@ -80,6 +78,16 @@ QGCColoredImage {
}
}
}
QGCColoredImage {
id: telemIcon
anchors.top: parent.top
anchors.bottom: parent.bottom
width: height
sourceSize.height: height
source: "/qmlimages/TelemRSSI.svg"
fillMode: Image.PreserveAspectFit
color: qgcPal.buttonText
}
MouseArea {
anchors.fill: parent
onClicked: {
......
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