Merge pull request #3177 from bartosz-wawrzacz/master

Handling and logging the RC RSSI value

src/drivers/px4io/px4io.cpp

@@ -1780,8 +1780,8 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
 
 	/* get RSSI from input channel */
 	if (_rssi_pwm_chan > 0 && _rssi_pwm_chan <= input_rc_s::RC_INPUT_MAX_CHANNELS && _rssi_pwm_max - _rssi_pwm_min != 0) {
-		int rssi = (input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) /
-			   ((_rssi_pwm_max - _rssi_pwm_min) / 100);
+		int rssi = ((input_rc.values[_rssi_pwm_chan - 1] - _rssi_pwm_min) * 100) /
+			   (_rssi_pwm_max - _rssi_pwm_min);
 		rssi = rssi > 100 ? 100 : rssi;
 		rssi = rssi < 0 ? 0 : rssi;
 		input_rc.rssi = rssi;

src/modules/sdlog2/sdlog2.c

@@ -1675,6 +1675,7 @@ int sdlog2_thread_main(int argc, char *argv[])
 			log_msg.msg_type = LOG_RC_MSG;
 			/* Copy only the first 8 channels of 14 */
 			memcpy(log_msg.body.log_RC.channel, buf.rc.channels, sizeof(log_msg.body.log_RC.channel));
+			log_msg.body.log_RC.rssi = buf.rc.rssi;
 			log_msg.body.log_RC.channel_count = buf.rc.channel_count;
 			log_msg.body.log_RC.signal_lost = buf.rc.signal_lost;
 			LOGBUFFER_WRITE_AND_COUNT(RC);

src/modules/sdlog2/sdlog2_messages.h

@@ -189,6 +189,7 @@ struct log_STAT_s {
 #define LOG_RC_MSG 11
 struct log_RC_s {
 	float channel[8];
+	uint8_t rssi;
 	uint8_t channel_count;
 	uint8_t signal_lost;
 };
@@ -532,7 +533,7 @@ static const struct log_format_s log_formats[] = {
 	LOG_FORMAT(STAT, "BBBfBBf",		"MainState,ArmS,Failsafe,BatRem,BatWarn,Landed,Load"),
 	LOG_FORMAT(VTOL, "f",		"Arsp"),
 	LOG_FORMAT(CTS, "fffffff", "Vx_b,Vy_b,Vz_b,Vinf,P,Q,R"),
-	LOG_FORMAT(RC, "ffffffffBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,Count,SignalLost"),
+	LOG_FORMAT(RC, "ffffffffBBB",		"Ch0,Ch1,Ch2,Ch3,Ch4,Ch5,Ch6,Ch7,RSSI,Count,SignalLost"),
 	LOG_FORMAT(OUT0, "ffffffff",		"Out0,Out1,Out2,Out3,Out4,Out5,Out6,Out7"),
 	LOG_FORMAT(AIRS, "fff",			"IndSpeed,TrueSpeed,AirTemp"),
 	LOG_FORMAT(ARSP, "fff",			"RollRateSP,PitchRateSP,YawRateSP"),