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Ardupilot implementation reference

• RSSI.cpp calls on AP_HAL_SITL/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. Pointer is stored in rssi_analog_source variable

  • (ADCSource inherits from AnalogSource, is declared in AP_HAL_SITL/AnalogIn)

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

  • AnalogSource is an abstract class, defined in a different AnalogIn file, AP_HAL/AnalogIn

    • 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

• In RSSI.cpp read_pin_rssi function

  • ADCSource voltage_average() function is called on rssi_analog_source variable

  • voltage_average() returns a manipulated output of ADCSource read_average() function. read_average() returns return of ADCSource read_latest() function.

    • read_latest(), depending on the pin, returns the appropriate pin value from the _sitlState member variable of ADCSource, which holds a pointer to a sitlState object