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DroneCAN: Add support for few more statistics to DroneCAN RC #28390

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DroneCAN: Add support for few more statistics to DroneCAN RC #28390

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7b429fd
AP_RCProtocol: add support for some extra stats to DroneCAN RC
olliw42 Oct 15, 2024
aebad75
AP_OSD: use RC().get_link_stats() for extra stats
olliw42 Oct 15, 2024
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10 changes: 5 additions & 5 deletions libraries/AP_OSD/AP_OSD_Screen.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -2064,7 +2064,7 @@ bool AP_OSD_Screen::is_btfl_fonts()

void AP_OSD_Screen::draw_rc_tx_power(uint8_t x, uint8_t y)
{
const int16_t tx_power = AP::crsf()->get_link_status().tx_power;
const int16_t tx_power = AP::RC().get_link_status().tx_power;
bool btfl = is_btfl_fonts();
if (tx_power > 0) {
if (tx_power < 1000) {
Expand Down Expand Up @@ -2092,7 +2092,7 @@ void AP_OSD_Screen::draw_rc_tx_power(uint8_t x, uint8_t y)

void AP_OSD_Screen::draw_rc_rssi_dbm(uint8_t x, uint8_t y)
{
const int8_t rssidbm = AP::crsf()->get_link_status().rssi_dbm;
const int8_t rssidbm = AP::RC().get_link_status().rssi_dbm;
const bool blink = -rssidbm < osd->warn_rssi;
bool btfl = is_btfl_fonts();

Expand All @@ -2115,7 +2115,7 @@ void AP_OSD_Screen::draw_rc_rssi_dbm(uint8_t x, uint8_t y)

void AP_OSD_Screen::draw_rc_snr(uint8_t x, uint8_t y)
{
const int8_t snr = AP::crsf()->get_link_status().snr;
const int8_t snr = AP::RC().get_link_status().snr;
const bool blink = snr < osd->warn_snr;
bool btfl = is_btfl_fonts();
if (snr == INT8_MIN) {
Expand All @@ -2135,7 +2135,7 @@ void AP_OSD_Screen::draw_rc_snr(uint8_t x, uint8_t y)

void AP_OSD_Screen::draw_rc_active_antenna(uint8_t x, uint8_t y)
{
const int8_t active_antenna = AP::crsf()->get_link_status().active_antenna;
const int8_t active_antenna = AP::RC().get_link_status().active_antenna;
bool btfl = is_btfl_fonts();
if (active_antenna < 0) {
if (btfl) {
Expand All @@ -2154,7 +2154,7 @@ void AP_OSD_Screen::draw_rc_active_antenna(uint8_t x, uint8_t y)

void AP_OSD_Screen::draw_rc_lq(uint8_t x, uint8_t y)
{
const int16_t lqv = AP::crsf()->get_link_status().link_quality;
const int16_t lqv = AP::RC().get_link_status().link_quality;
const bool blink = lqv < osd->warn_lq;
bool btfl = is_btfl_fonts();
bool prefix_rf = check_option(AP_OSD::OPTION_RF_MODE_ALONG_WITH_LQ);
Expand Down
12 changes: 12 additions & 0 deletions libraries/AP_RCProtocol/AP_RCProtocol.h
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Expand Up @@ -250,6 +250,18 @@ class AP_RCProtocol {
void handle_radio_rc_channels(const mavlink_radio_rc_channels_t* packet);
#endif

// some backends have a struct LinkStatus and a field _link_status, avoid name clash
struct RcLinkStatus {
int16_t link_quality = -1;
int16_t tx_power = -1;
int8_t rssi_dbm = -1;
int8_t snr = INT8_MIN;
int8_t active_antenna = -1;
};
volatile struct RcLinkStatus _rc_link_status;
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Suggested change
volatile struct RcLinkStatus _rc_link_status;
volatile struct RCLinkStatus _rc_link_status;

Why volatile?

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this I didn't understand too ... so I was just closily following what is done for the CRSF class
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h#L310-L314
https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RCProtocol/AP_RCProtocol_CRSF.h#L361
assuming that someone had a good reason which is above my paygrade

pl say clear "yes volatile" or "no voloatile" and I will do

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has the "volatile" thing been sorted out? It should stay?


const volatile RcLinkStatus& get_link_status() const { return _rc_link_status; }

private:
void check_added_uart(void);

Expand Down
9 changes: 9 additions & 0 deletions libraries/AP_RCProtocol/AP_RCProtocol_CRSF.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -632,6 +632,15 @@ void AP_RCProtocol_CRSF::process_link_stats_frame(const void* data)
_link_status.active_antenna = -1;
}
#endif

// Report to frontend
frontend._rc_link_status.link_quality = _link_status.link_quality;
#if AP_OSD_LINK_STATS_EXTENSIONS_ENABLED
frontend._rc_link_status.rssi_dbm = _link_status.rssi_dbm;
frontend._rc_link_status.snr = _link_status.snr;
frontend._rc_link_status.tx_power = _link_status.tx_power;
frontend._rc_link_status.active_antenna = _link_status.active_antenna;
#endif
}

// process link statistics to get RX RSSI
Expand Down
44 changes: 42 additions & 2 deletions libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.cpp
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Expand Up @@ -90,12 +90,52 @@ void AP_RCProtocol_DroneCAN::update()
}
last_receive_ms = rcin.last_sample_time_ms;

if (rcin.bits.QUALITY_VALID) {
switch (rcin.bits.QUALITY_TYPE) {
case QualityType::RSSI:
rssi = rcin.quality;
break;
case QualityType::LQ_ACTIVE_ANTENNA:
// highest bit carries active antenna data
frontend._rc_link_status.link_quality = (rcin.quality & 0x7F);
frontend._rc_link_status.active_antenna = (rcin.quality & 0x80) ? 1 : 0;
break;
case QualityType::RSSI_DBM:
frontend._rc_link_status.rssi_dbm = rcin.quality;
// also set the rssi field, this avoids having to waste a slot for sending both
// AP rssi: -1 for unknown, 0 for no link, 255 for maximum link
if (rcin.quality < 50) {
rssi = 255;
} else if (rcin.quality > 120) {
rssi = 0;
} else {
rssi = int16_t(roundf((120.0f - rcin.quality) * (255.0f / 70.0f)));
}
break;
case QualityType::SNR:
// SNR is shifted by 128 to support negative values
frontend._rc_link_status.snr = (int8_t)rcin.quality - 128;
break;
case QualityType::TX_POWER:
// carries tx power in units of 5 mW, thus can't support higher than 255*5 = 1275 mW
frontend._rc_link_status.tx_power = (int16_t)rcin.quality * 5;
break;
}
} else {
rssi = -1;
frontend._rc_link_status.link_quality = -1;
frontend._rc_link_status.rssi_dbm = -1;
frontend._rc_link_status.snr = INT8_MIN;
frontend._rc_link_status.tx_power = -1;
frontend._rc_link_status.active_antenna = -1;
}

add_input(
rcin.num_channels,
rcin.channels,
rcin.bits.FAILSAFE,
rcin.bits.QUALITY_VALID ? rcin.quality : 0, // CHECK ME
0 // link quality
rssi,
frontend._rc_link_status.link_quality
);
}
}
Expand Down
11 changes: 11 additions & 0 deletions libraries/AP_RCProtocol/AP_RCProtocol_DroneCAN.h
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Original file line number Diff line number Diff line change
Expand Up @@ -30,13 +30,22 @@ class AP_RCProtocol_DroneCAN : public AP_RCProtocol_Backend {

static AP_RCProtocol_DroneCAN* get_dronecan_backend(AP_DroneCAN* ap_dronecan, uint8_t node_id);

enum QualityType {
RSSI = 0,
LQ_ACTIVE_ANTENNA = 1,
RSSI_DBM = 2,
SNR = 3,
TX_POWER = 4
};

struct {
uint8_t quality;
union {
uint16_t status;
struct {
uint8_t QUALITY_VALID : 1;
uint8_t FAILSAFE : 1;
uint8_t QUALITY_TYPE : 3;
} bits;
};
uint8_t num_channels;
Expand All @@ -46,6 +55,8 @@ class AP_RCProtocol_DroneCAN : public AP_RCProtocol_Backend {
HAL_Semaphore sem;
} rcin;

int16_t rssi = -1;

// Module Detection Registry
static struct Registry {
struct DetectedDevice {
Expand Down
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