frsky-spi-D16 was counting every telemetry state as a good packet. If it was garbage packet it would go straight into the rcData

Add some debugging

src/main/build/debug.c

@@ -50,6 +50,7 @@ const char * const debugModeNames[DEBUG_COUNT] = {
     "FFT_TIME",
     "FFT_FREQ",
     "RX_FRSKY_SPI",
+    "RX_SIGNAL_LOSS",    
     "GYRO_RAW",
     "DUAL_GYRO",
     "DUAL_GYRO_RAW",

src/main/build/debug.h

@@ -68,6 +68,7 @@ typedef enum {
     DEBUG_FFT_TIME,
     DEBUG_FFT_FREQ,
     DEBUG_RX_FRSKY_SPI,
+    DEBUG_RX_SIGNAL_LOSS,
     DEBUG_GYRO_RAW,
     DEBUG_DUAL_GYRO,
     DEBUG_DUAL_GYRO_RAW,

src/main/rx/cc2500_frsky_shared.h

@@ -25,6 +25,9 @@
 #define MAX_MISSING_PKT 100
 
 #define DEBUG_DATA_ERROR_COUNT 0
+#define DEBUG_DATA_MISSING_PACKETS 1
+#define DEBUG_DATA_BAD_FRAME 2
+
 
 #define SYNC_DELAY_MAX 9000
 

src/main/rx/cc2500_frsky_x.c

@@ -270,6 +270,7 @@ static void frSkyXTelemetryWriteFrame(const smartPortPayload_t *payload)
 
 void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
 {
+    static uint32_t rangeErrors = 0;
     uint16_t c[8];
 
     c[0] = (uint16_t)((packet[10] << 8) & 0xF00) | packet[9];
@@ -289,9 +290,17 @@ void frSkyXSetRcData(uint16_t *rcData, const uint8_t *packet)
         } else {
             j = 0;
         }
+        if (c[i] == 0)
+        {
+            continue;
+        }
         int16_t temp = (((c[i] - 64) << 1) / 3 + 860);
         if ((temp > 800) && (temp < 2200)) {
             rcData[i+j] = temp;
+        } else {
+            rangeErrors++;
+            DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_ERROR_COUNT, rangeErrors);
+
         }
     }
 }
@@ -313,7 +322,7 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
     static bool frameReceived;
     static timeDelta_t receiveDelayUs;
     static uint8_t channelsToSkip = 1;
-
+    static uint32_t packetErrors = 0;
     static telemetryBuffer_t telemetryRxBuffer[TELEMETRY_SEQUENCE_LENGTH];
 
 #if defined(USE_RX_FRSKY_SPI_TELEMETRY)
@@ -433,6 +442,11 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
                             frameReceived = true; // no need to process frame again.
                         }
                     }
+                } 
+                if (!frameReceived)
+                {
+                    packetErrors++;
+                    DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_BAD_FRAME, packetErrors);
                 }
             }
         }
@@ -499,8 +513,10 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
                 processSmartPortTelemetry(payload, &clearToSend, NULL);
             }
 #endif
+            if (frameReceived == true) {
+                ret = RX_SPI_RECEIVED_DATA;
+            }
             *protocolState = STATE_RESUME;
-            ret = RX_SPI_RECEIVED_DATA;
         }
 
         break;
@@ -528,6 +544,8 @@ rx_spi_received_e frSkyXHandlePacket(uint8_t * const packet, uint8_t * const pro
                 break;
             }
             missingPackets++;
+            DEBUG_SET(DEBUG_RX_FRSKY_SPI, DEBUG_DATA_MISSING_PACKETS, missingPackets);
+            
             *protocolState = STATE_DATA;
         }
         break;

src/main/rx/rx.c

@@ -68,8 +68,6 @@
 #include "rx/targetcustomserial.h"
 
 
-//#define DEBUG_RX_SIGNAL_LOSS
-
 const char rcChannelLetters[] = "AERT12345678abcdefgh";
 
 static uint16_t rssi = 0;                  // range: [0;1023]
@@ -85,6 +83,7 @@ rssiSource_e rssiSource;
 static bool rxDataProcessingRequired = false;
 static bool auxiliaryProcessingRequired = false;
 
+static uint32_t rxMissedPackets = 0;
 static bool rxSignalReceived = false;
 static bool rxFlightChannelsValid = false;
 static bool rxIsInFailsafeMode = true;
@@ -391,6 +390,8 @@ bool rxUpdateCheck(timeUs_t currentTimeUs, timeDelta_t currentDeltaTime)
         rxSignalReceived = true;
     } else if (currentTimeUs >= needRxSignalBefore) {
         rxSignalReceived = false;
+        rxMissedPackets++;
+        needRxSignalBefore = currentTimeUs + needRxSignalMaxDelayUs;
     }
 
     if ((signalReceived && useDataDrivenProcessing) || cmpTimeUs(currentTimeUs, rxNextUpdateAtUs) > 0) {
@@ -492,11 +493,9 @@ static void detectAndApplySignalLossBehaviour(void)
 
     const bool useValueFromRx = rxSignalReceived && !rxIsInFailsafeMode;
 
-#ifdef DEBUG_RX_SIGNAL_LOSS
+    DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 0, rxSignalReceived);
-    debug[0] = rxSignalReceived;
+    DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 1, rxIsInFailsafeMode);
-    debug[1] = rxIsInFailsafeMode;
+    DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 2, rxMissedPackets);
-    debug[2] = rxRuntimeConfig.rcReadRawFn(&rxRuntimeConfig, 0);
-#endif
 
     rxFlightChannelsValid = true;
     for (int channel = 0; channel < rxChannelCount; channel++) {
@@ -533,10 +532,7 @@ static void detectAndApplySignalLossBehaviour(void)
             rcData[channel] = getRxfailValue(channel);
         }
     }
-
+    DEBUG_SET(DEBUG_RX_SIGNAL_LOSS, 3, rcData[THROTTLE]);
-#ifdef DEBUG_RX_SIGNAL_LOSS
-    debug[3] = rcData[THROTTLE];
-#endif
 }
 
 bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)

src/test/unit/rx_ranges_unittest.cc

@@ -22,7 +22,7 @@
 
 extern "C" {
     #include "platform.h"
-
+    #include "build/debug.h"
     #include "drivers/io.h"
     #include "common/maths.h"
     #include "pg/pg.h"
@@ -38,6 +38,8 @@ extern "C" {
 
 extern "C" {
 boxBitmask_t rcModeActivationMask;
+int16_t debug[DEBUG16_VALUE_COUNT];
+uint8_t debugMode = 0;
 
 extern uint16_t applyRxChannelRangeConfiguraton(int sample, const rxChannelRangeConfig_t *range);
 }

src/test/unit/rx_rx_unittest.cc

@@ -24,6 +24,7 @@ extern "C" {
     #include "platform.h"
 
     #include "pg/rx.h"
+    #include "build/debug.h"
     #include "drivers/io.h"
     #include "rx/rx.h"
     #include "fc/rc_modes.h"
@@ -35,6 +36,8 @@ extern "C" {
     #include "io/beeper.h"
 
     boxBitmask_t rcModeActivationMask;
+    int16_t debug[DEBUG16_VALUE_COUNT];
+    uint8_t debugMode = 0;
 
     bool isPulseValid(uint16_t pulseDuration);