ArduCopter sensors.pde rssi function

gistfile1.txt

void read_receiver_rssi(void)
{
    if (g.rssi_pin == -1) {
        receiver_rssi = map(g.rc_6.control_in, 800, 2200, 0, 255);
    } else {
   		rssi_analog_source->set_pin(g.rssi_pin);
    	float ret = rssi_analog_source->voltage_average() * 50;
   		receiver_rssi = constrain_int16(ret, 0, 255);  
	}
}