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Fix RSSI lower bound

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Lorenz Meier
2016-05-01 16:42:30 +02:00
parent 4ec4deabbd
commit 887dfd1ec4
1 changed files with 9 additions and 3 deletions
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src/drivers/px4fmu/fmu.cpp
+9 -3
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@@ -861,12 +861,18 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
/* set RSSI if analog RSSI input is present */ /* set RSSI if analog RSSI input is present */
if (_analog_rc_rssi_stable) { if (_analog_rc_rssi_stable) {
_rc_in.rssi = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f; float rssi = ((_analog_rc_rssi_volt - 0.2f) / 3.0f) * 100.0f;
if (_rc_in.rssi > 100) { if (rssi > 100.0f) {
_rc_in.rssi = 100; rssi = 100.0f;
} }
if (rssi < 0.0f) {
rssi = 0.0f;
}
_rc_in.rssi = rssi;
} else { } else {
_rc_in.rssi = _rc_in.rssi =
(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2); (!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);