added ability to assign one of aux1..4 channels as RSSI by the-kenny

git-svn-id: https://afrodevices.googlecode.com/svn/trunk/baseflight@416 7c89a4a9-59b9-e629-4cfe-3a2d53b20e61

src/cli.c

@@ -147,6 +147,7 @@ const clivalue_t valueTable[] = {
     { "failsafe_off_delay", VAR_UINT8, &cfg.failsafe_off_delay, 0, 200 },
     { "failsafe_throttle", VAR_UINT16, &cfg.failsafe_throttle, 1000, 2000 },
     { "failsafe_detect_threshold", VAR_UINT16, &cfg.failsafe_detect_threshold, 100, 2000 },
+    { "rssi_aux_channel", VAR_INT8, &mcfg.rssi_aux_channel, 0, 4 },
     { "yaw_direction", VAR_INT8, &cfg.yaw_direction, -1, 1 },
     { "tri_unarmed_servo", VAR_INT8, &cfg.tri_unarmed_servo, 0, 1 },
     { "tri_yaw_middle", VAR_UINT16, &cfg.tri_yaw_middle, 0, 2000 },

src/config.c

@@ -209,6 +209,7 @@ static void resetConf(void)
     // serial (USART1) baudrate
     mcfg.serial_baudrate = 115200;
     mcfg.looptime = 3500;
+    mcfg.rssi_aux_channel = 0;
 
     cfg.pidController = 0;
     cfg.P8[ROLL] = 40;

src/mw.c

@@ -452,6 +452,14 @@ void loop(void)
                 mwDisarm();
         }
 
+        // Read value of AUX channel as rssi
+        // 0 is disable, 1-4 is AUX{1..4}
+        if (mcfg.rssi_aux_channel > 0) {
+            const int16_t rssiChannelData = rcData[AUX1 + mcfg.rssi_aux_channel - 1];
+            // Range of rssiChannelData is [1000;2000]. rssi should be in [0;1023];
+            rssi = (uint16_t)((constrain(rssiChannelData - 1000, 0, 1000) / 1000.0f) * 1023.0f);
+        }
+
         // Failsafe routine
         if (feature(FEATURE_FAILSAFE)) {
             if (failsafeCnt > (5 * cfg.failsafe_delay) && f.ARMED) { // Stabilize, and set Throttle to specified level

src/mw.h

@@ -279,10 +279,11 @@ typedef struct master_t {
     uint16_t maxcheck;                      // maximum rc end
     uint8_t retarded_arm;                   // allow disarsm/arm on throttle down + roll left/right
 
+    uint8_t rssi_aux_channel;               // Read rssi from channel. 1+ = AUX1+, 0 to disable.
+
     // gps-related stuff
     uint8_t gps_type;                       // Type of GPS hardware. 0: NMEA 1: UBX 2+ ??
     uint32_t gps_baudrate;                  // GPS baudrate
-
     // serial(uart1) baudrate
     uint32_t serial_baudrate;