Move telemetry RSSI handling to within Vehicle.

Fixing the telemetry RSSI indicator.

src/Vehicle/Vehicle.cc

@@ -159,7 +159,6 @@ 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);
@@ -428,37 +427,6 @@ 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)
 {
 
@@ -512,6 +480,9 @@ 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;
@@ -941,6 +912,59 @@ 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;
+    //-- 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);
+    }
+    //-- 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 != rstatus.noise) {
+        _telemetryLNoise = rstatus.noise;
+        emit telemetryLNoiseChanged(_telemetryLNoise);
+    }
+    if(_telemetryRNoise != rstatus.remnoise) {
+        _telemetryRNoise = rstatus.remnoise;
+        emit telemetryRNoiseChanged(_telemetryRNoise);
+    }
+}
+
 void Vehicle::_handleRCChannels(mavlink_message_t& message)
 {
     mavlink_rc_channels_t channels;

src/Vehicle/Vehicle.h

@@ -757,7 +757,6 @@ 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);
@@ -795,6 +794,7 @@ 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);

src/comm/MAVLinkProtocol.cc

@@ -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

@@ -20,16 +20,18 @@ 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
+    //-- SiK Radio: -120 to < 0
+    //-- Others:    > 0 - 100
+
+    property var  _activeVehicle:   QGroundControl.multiVehicleManager.activeVehicle
+    property bool _isSiKRadio:      _activeVehicle ? _activeVehicle.telemetryLRSSI < 0 : false
+    property bool _hasTelemetry:    _activeVehicle ? _activeVehicle.telemetryLRSSI !== 0 : false
 
     Component {
         id: telemRSSIInfo
@@ -58,9 +60,9 @@ QGCColoredImage {
                     columns:            2
                     anchors.horizontalCenter: parent.horizontalCenter
                     QGCLabel { text: qsTr("Local RSSI:") }
-                    QGCLabel { text: _activeVehicle.telemetryLRSSI + " dBm" }
+                    QGCLabel { text: _activeVehicle.telemetryLRSSI + _isSiKRadio ? " dBm" : ""}
                     QGCLabel { text: qsTr("Remote RSSI:") }
-                    QGCLabel { text: _activeVehicle.telemetryRRSSI + " dBm" }
+                    QGCLabel { text: _activeVehicle.telemetryRRSSI + _isSiKRadio ? " dBm" : ""}
                     QGCLabel { text: qsTr("RX Errors:") }
                     QGCLabel { text: _activeVehicle.telemetryRXErrors }
                     QGCLabel { text: qsTr("Errors Fixed:") }
@@ -80,6 +82,16 @@ 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: {