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Use 'nodeRssiPeak' in delta5Node.ino #73

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Use 'nodeRssiPeak' in delta5Node.ino #73

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23 changes: 15 additions & 8 deletions src/delta5node/delta5node.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -81,6 +81,8 @@ struct {
uint16_t volatile rssiPeak = 0;
// The time of the peak raw rssi for the current pass
uint32_t volatile rssiPeakRawTimeStamp = 0;
// The peak smoothed rssi seen since the node was powered on or frequency set
uint16_t volatile nodeRssiPeak = 0;

// variables to track the loop time
uint32_t volatile loopTime = 0;
Expand Down Expand Up @@ -255,6 +257,14 @@ void loop() {
state.rssiSmoothed = (settings.filterRatioFloat * (float)state.rssiRaw) + ((1.0f-settings.filterRatioFloat) * state.rssiSmoothed);
state.rssi = (int)state.rssiSmoothed;

// Keep track of peak (smoothed) rssi; set trigger as offset of peak
if (state.rssi > state.nodeRssiPeak) {
state.nodeRssiPeak = state.rssi;
state.rssiTrigger = state.nodeRssiPeak - settings.calibrationOffset;
Serial.print("New nodeRssiPeak = ");
Serial.println(state.nodeRssiPeak);
}

if (state.rssiTrigger > 0) {
if (!state.crossing && state.rssi > state.rssiTrigger) {
state.crossing = true; // Quad is going through the gate
Expand All @@ -269,14 +279,10 @@ void loop() {
}

if (state.crossing) {
int triggerThreshold = settings.triggerThreshold;

// If in calibration mode, keep raising the trigger value
if (state.calibrationMode) {
state.rssiTrigger = max(state.rssiTrigger, state.rssi - settings.calibrationOffset);
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@punkkills punkkills Mar 26, 2018 •
edited
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The intent of auto calibration is to calculate a new trigger value for each new run. Each run may have a different pilot with different vtx output strength.

// when calibrating, use a larger threshold
triggerThreshold = settings.calibrationThreshold;
}
// when in calibration mode, use a larger threshold
int triggerThreshold = state.calibrationMode ?
settings.calibrationThreshold : settings.triggerThreshold;

state.rssiPeak = max(state.rssiPeak, state.rssi);

Expand Down Expand Up @@ -416,6 +422,7 @@ byte i2cHandleRx(byte command) { // The first byte sent by the I2C master is the
if (readAndValidateIoBuffer(0x51, 2)) {
settings.vtxFreq = ioBufferRead16();
setRxModule(settings.vtxFreq); // Shouldn't do this in Interrupt Service Routine
state.nodeRssiPeak = 0; // restart rssi peak tracking for node
success = true;
}
break;
Expand All @@ -428,7 +435,7 @@ byte i2cHandleRx(byte command) { // The first byte sent by the I2C master is the
case WRITE_CALIBRATION_MODE:
if (readAndValidateIoBuffer(WRITE_CALIBRATION_MODE, 1)) {
state.calibrationMode = ioBufferRead8();
state.rssiTrigger = state.rssi - settings.calibrationOffset;
state.rssiTrigger = state.nodeRssiPeak - settings.calibrationOffset;
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This looks like it assumes that you always want to set the trigger value based on peak RSSI, not the peak of the current quad in the heat.

lastPass.rssiPeakRaw = 0;
lastPass.rssiPeak = 0;
state.rssiPeakRaw = 0;
Expand Down