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dronecan 1140.RCInput: add flags to represent LQ and SNR link statistics #56

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dronecan 1140.RCInput: add flags to represent LQ and SNR link statistics #56

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15 changes: 13 additions & 2 deletions dronecan/sensors/rc/1140.RCInput.uavcan
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Original file line number Diff line number Diff line change
@@ -1,9 +1,20 @@
#
# RC channels and basic link statistics
#

uint8 STATUS_QUALITY_VALID = 1 # quality field is valid
uint8 STATUS_FAILSAFE = 2 # receiver has lost contact with transmitter
uint8 STATUS_QUALITY_TYPE = 28 # mask of 3 bits (4+8+16) to indicate the type of data carried in the quality field, see QUALITY_TYPE enum

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@tpwrules tpwrules Feb 2, 2026 •
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My interpretation, please update the PR with this comment if it is correct:

# if no quality information is available, VALID MUST be 0 and QUALITY_TYPE MUST be 0
# if `quality` contains RSSI quality information, VALID MUST be 1 and QUALITY_TYPE MUST be 0
# if `quality` contains another type of information, VALID MUST be 0 and QUALITY_TYPE MUST be non-0
# upon reception, VALID MUST be ignored if QUALITY_TYPE is non-0

uint8 QUALITY_TYPE_RSSI = 0 # quality field represents RSSI in scaled units, 0 is no signal, 255 is "full" signal
uint8 QUALITY_TYPE_LQ_ACTIVE_ANTENNA = 4 # quality field represents LQ in percent in bits 1-7 (0 is no signal, 100 is 100% link quality) and active antenna in bit 8
uint8 QUALITY_TYPE_RSSI_DBM = 8 # quality field represents RSSI in inverted dBm, 0 is no signal, 1 = -1 dBm, 255 = -255 dBm
uint8 QUALITY_TYPE_SNR = 12 # quality field represents SNR in device dependent units, shifted by 128
uint8 QUALITY_TYPE_TX_POWER = 16 # quality field represents uplink power in units of 5 mW

uint16 status # bitmask of status bits, enumerated above with STATUS_*

uint8 quality # scaled, 0 is no signal, 255 is "full" signal
uint8 quality # see descriptions for status bits STATUS_QUALITY_VALID, STATUS_QUALITY_LQ, STATUS_QUALITY_SNR
uint4 id # ID of this RC input device

uint12[<=32] rcin # RC channel values between 0 and 4095
uint12[<=32] rcin # RC channel values between 0 and 4095, values are in PWM microseconds, 1500 represents the mid position