From 48a3ea0d803ce316712baf5085e09125613adc46 Mon Sep 17 00:00:00 2001
From: dogmaphobic <mavlink@grubba.com>
Date: Tue, 21 Apr 2015 10:36:00 -0400
Subject: [PATCH] Changed RC RSSI to follow original spec.

---
 src/uas/UAS.cc                 | 24 +-----------------------
 src/ui/toolbar/MainToolBar.cc  |  2 +-
 src/ui/toolbar/MainToolBar.h   |  2 +-
 src/ui/toolbar/MainToolBar.qml |  2 +-
 4 files changed, 4 insertions(+), 26 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 028ac9a..1b3c0e3 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -923,28 +923,7 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             mavlink_rc_channels_t channels;
             mavlink_msg_rc_channels_decode(&message, &channels);
 
-            /*
-            * Full RSSI field: 0b 1 111 1111
-            *                     | |   |
-            *                     | |   ^ These four bits encode a total of
-            *                     | |     16 RSSI levels. 15 = full, 0 = no signal
-            *                     | |
-            *                     | ^ These three bits encode a total of 8
-            *                     |   digital RC input types.
-            *                     |   0: PPM, 1: SBUS, 2: Spektrum, 3: ST24
-            *                     |
-            *                     ^ If bit is set, RSSI encodes type + RSSI
-            */
-
-            // TODO: Because the code on the firmware side never sets rssi to 0 on loss of connection
-            // we get a minimum value of 1 (3.5dB). This is what it does to compute it:
-            // msg.rssi |= (rc.rssi <= 100) ? ((rc.rssi / 7) + 1) : 15;
-            // Therefore, I'm eliminating bit 0 as well.
-            int tRssi = (channels.rssi & 0x0E) * 7;
-            if(tRssi > 100) {
-                tRssi = 100;
-            }
-            emit remoteControlRSSIChanged((uint8_t)tRssi);
+            emit remoteControlRSSIChanged(channels.rssi);
 
             if (channels.chan1_raw != UINT16_MAX && channels.chancount > 0)
                 emit remoteControlChannelRawChanged(0, channels.chan1_raw);
@@ -994,7 +973,6 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
 
             const unsigned int portWidth = 8; // XXX magic number
 
-            // TODO: This makes an assumption the RSSI has been normalized to 0-100
             emit remoteControlRSSIChanged(channels.rssi);
             if (static_cast<uint16_t>(channels.chan1_scaled) != UINT16_MAX)
                 emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
diff --git a/src/ui/toolbar/MainToolBar.cc b/src/ui/toolbar/MainToolBar.cc
index 25763de..689e154 100644
--- a/src/ui/toolbar/MainToolBar.cc
+++ b/src/ui/toolbar/MainToolBar.cc
@@ -377,7 +377,7 @@ void MainToolBar::_telemetryChanged(LinkInterface*, unsigned, unsigned, unsigned
     }
 }
 
-void MainToolBar::_remoteControlRSSIChanged(float rssi)
+void MainToolBar::_remoteControlRSSIChanged(uint8_t rssi)
 {
     // We only care if we haveone single connection
     if(_connectionCount == 1) {
diff --git a/src/ui/toolbar/MainToolBar.h b/src/ui/toolbar/MainToolBar.h
index 23e19b3..bd18a7f 100644
--- a/src/ui/toolbar/MainToolBar.h
+++ b/src/ui/toolbar/MainToolBar.h
@@ -159,7 +159,7 @@ private slots:
     void _leaveMessageView              ();
     void _setSatLoc                     (UASInterface* uas, int fix);
     void _setProgressBarValue           (float value);
-    void _remoteControlRSSIChanged      (float rssi);
+    void _remoteControlRSSIChanged      (uint8_t rssi);
     void _telemetryChanged              (LinkInterface* link, unsigned rxerrors, unsigned fixed, unsigned rssi, unsigned remrssi, unsigned txbuf, unsigned noise, unsigned remnoise);
 
 private:
diff --git a/src/ui/toolbar/MainToolBar.qml b/src/ui/toolbar/MainToolBar.qml
index 57ad82f..2076169 100644
--- a/src/ui/toolbar/MainToolBar.qml
+++ b/src/ui/toolbar/MainToolBar.qml
@@ -351,7 +351,7 @@ Rectangle {
                 id: rssiRC
                 width:  getProportionalDimmension(55)
                 height: cellHeight
-                visible: showMavStatus() && mainToolBar.showRSSI
+                visible: showMavStatus() && mainToolBar.showRSSI && mainToolBar.remoteRSSI <= 100
                 anchors.verticalCenter: parent.verticalCenter
                 color:  getRSSIColor(mainToolBar.remoteRSSI);
                 border.color: "#00000000"