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• RSSI signal can come as analog or PWM

Ardupilot implementation reference

• RSSI.cpp calls on AnalopIn.cpp class for its ‘channel’ function

  • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_RSSI/AP_RSSI.cpp

  • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/AnalogIn.h

• AnalogIn.cpp has ‘channel’ function which returns a pointer to an AnalogSource object by calling the ADCSource object constructor

  • (ADCSource inherits from AnalogSource)

  • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/AnalogIn.cpp

  • AnalogSource is an abstract class,

  defines

  • defined in a different AnalogIn file

    • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL/AnalogIn.h

  • AnalogSource constructor requires inputting a pointer to a SITL_State object

    • SITL_State class files:

      • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/SITL_State.h

      • https://github.com/ArduPilot/ardupilot/blob/master/libraries/AP_HAL_SITL/SITL_State.cpp

• In RSSI.cpp, AnalogIn object is actually a member variable of AP_HAL::HAL.h class

  • A hal.h object called hal is accessed using ‘extern’ keyword