Page Comparison

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• For pull request:

  • Make LOS/RSSI branch (after weekend)

Research

Notes about RSSI

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:

• https://www.youtube.com/watch?v=nZxMvTCN_pI&t=340s&ab_channel=AndyRC

• Some RSSI Types

  • Basic analog signal (eg. voltage range between 0.0 and 5.0, or 0.0 and 3.3)

  • PWM signal

  • PPM signal

PPM vs. PWM:

• https://www.youtube.com/watch?v=FLl837l8o_Q&ab_channel=TeamPanic

Ardupilot implementation reference

• AP_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 AP_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 AP_RSSI.cpp read_pin_rssi function

  • ADCSource voltage_average() function is called on rssi_analog_source variable

  • voltage_average() returns a manipulated (normalized to between 0.0f and 5.0f) 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

      • (the desired pin is an argument of the ‘channel’ function mentioned earlier)

      • the pin values are from 0.0f to 1023.0f

• AP_RSSI.cpp also has functions which get PWM values