add macro to control RC input inverter

remove redundant variable

src/drivers/boards/px4fmu-v4/board_config.h

@@ -228,8 +228,10 @@ __BEGIN_DECLS
 #define GPIO_PERIPH_3V3_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 /* for R07, this signal is active low */
 #define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, 1-_s);
 /* for R12, this signal is active high */
 //#define GPIO_SBUS_INV			(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+//#define INVERT_RC_INPUT(_s)		stm32_gpiowrite(GPIO_SBUS_INV, _s);
 
 #define GPIO_8266_GPIO0			(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN2)
 #define GPIO_SPEKTRUM_PWR_EN		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)

src/drivers/px4fmu/fmu.cpp

@@ -209,8 +209,8 @@ private:
 	PX4FMU operator=(const PX4FMU &);
 	void fill_rc_in(uint16_t raw_rc_count,
 			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
-			hrt_abstime now, bool sbus_frame_drop, bool sbus_failsafe,
-			unsigned sbus_frame_drops);
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi);
 };
 
 const PX4FMU::GPIOConfig PX4FMU::_gpio_tab[] = {
@@ -626,8 +626,8 @@ PX4FMU::cycle_trampoline(void *arg)
 
 void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
 			uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS],
-			hrt_abstime now, bool sbus_frame_drop, bool sbus_failsafe,
-			unsigned sbus_frame_drops)
+			hrt_abstime now, bool frame_drop, bool failsafe,
+			unsigned frame_drops, int rssi = -1)
 {
 	// fill rc_in struct for publishing
 	_rc_in.channel_count = raw_rc_count;
@@ -643,11 +643,15 @@ void PX4FMU::fill_rc_in(uint16_t raw_rc_count,
 	_rc_in.timestamp_publication = now;
 	_rc_in.timestamp_last_signal = _rc_in.timestamp_publication;
 	_rc_in.rc_ppm_frame_length = 0;
-	_rc_in.rssi =
-		(!sbus_frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
-	_rc_in.rc_failsafe = sbus_failsafe;
+
+	if (rssi == -1) {
+		_rc_in.rssi =
+			(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
+	}
+
+	_rc_in.rc_failsafe = failsafe;
 	_rc_in.rc_lost = false;
-	_rc_in.rc_lost_frame_count = sbus_frame_drops;
+	_rc_in.rc_lost_frame_count = frame_drops;
 	_rc_in.rc_total_frame_count = 0;
 }
 
@@ -860,8 +864,7 @@ PX4FMU::cycle()
 	bool sbus_failsafe, sbus_frame_drop;
 	uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
 	uint16_t raw_rc_count;
-	unsigned sbus_frame_drops;
-	unsigned dsm_frame_drops;
+	unsigned frame_drops;
 	bool dsm_11_bit;
 
 
@@ -878,11 +881,9 @@ PX4FMU::cycle()
 	case RC_SCAN_SBUS:
 		if (rc_scan_begin == 0) {
 			rc_scan_begin = now;
-//			// Configure serial port for SBUS
+			// Configure serial port for SBUS
 			sbus_config(_rcs_fd, false);
-//			/* for PixRacer R07, this signal is active low */
-//			/* for PixRacer R12, this signal is active high */
-			stm32_gpiowrite(GPIO_SBUS_INV, 0);
+			INVERT_RC_INPUT(true);
 
 		} else if (now - rc_scan_last_lock < rc_scan_max
 			   || now - rc_scan_begin < rc_scan_max) {
@@ -890,12 +891,12 @@ PX4FMU::cycle()
 			// parse new data
 			if (newBytes > 0) {
 				rc_updated = sbus_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe,
-							&sbus_frame_drop, &sbus_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+							&sbus_frame_drop, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 				if (rc_updated) {
 					// we have a new SBUS frame. Publish it.
 					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   sbus_frame_drop, sbus_failsafe, sbus_frame_drops);
+						   sbus_frame_drop, sbus_failsafe, frame_drops);
 					rc_scan_last_lock = now;
 					rc_scan_locked = true;
 				}
@@ -915,9 +916,7 @@ PX4FMU::cycle()
 			rc_scan_begin = now;
 //			// Configure serial port for DSM
 			dsm_config(_rcs_fd);
-//			/* for PixRacer R07, this signal is active low */
-//			/* for PixRacer R12, this signal is active high */
-			stm32_gpiowrite(GPIO_SBUS_INV, 1);
+			INVERT_RC_INPUT(false);
 
 		} else if (now - rc_scan_last_lock < rc_scan_max
 			   || now - rc_scan_begin < rc_scan_max) {
@@ -925,12 +924,12 @@ PX4FMU::cycle()
 			if (newBytes > 0) {
 				// parse new data
 				rc_updated = dsm_parse(now, &_rcs_buf[0], newBytes, &raw_rc_values[0], &raw_rc_count,
-						       &dsm_11_bit, &dsm_frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
+						       &dsm_11_bit, &frame_drops, input_rc_s::RC_INPUT_MAX_CHANNELS);
 
 				if (rc_updated) {
 					// we have a new DSM frame. Publish it.
 					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   false, false, dsm_frame_drops);
+						   false, false, frame_drops);
 					rc_scan_last_lock = now;
 					rc_scan_locked = true;
 				}
@@ -950,9 +949,7 @@ PX4FMU::cycle()
 			rc_scan_begin = now;
 //			// Configure serial port for DSM
 			dsm_config(_rcs_fd);
-//			/* for PixRacer R07, this signal is active low */
-//			/* for PixRacer R12, this signal is active high */
-			stm32_gpiowrite(GPIO_SBUS_INV, 1);
+			INVERT_RC_INPUT(false);
 
 		} else if (now - rc_scan_last_lock < rc_scan_max
 			   || now - rc_scan_begin < rc_scan_max) {
@@ -973,7 +970,7 @@ PX4FMU::cycle()
 				if (rc_updated) {
 					// we have a new ST24 frame. Publish it.
 					fill_rc_in(raw_rc_count, raw_rc_values, now,
-						   false, false, dsm_frame_drops);
+						   false, false, frame_drops, st24_rssi);
 					rc_scan_last_lock = now;
 					rc_scan_locked = true;
 				}