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feat: RF spectrum scanner for clean frequency selection - #1

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claude/rf-scanner-frequency-hr0ag2
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feat: RF spectrum scanner for clean frequency selection#1
wkumik wants to merge 4 commits into
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claude/rf-scanner-frequency-hr0ag2

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@wkumik wkumik commented Jun 16, 2026

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Summary

  • Adds "Scan for Clean Channel" menu item to the vehicle radio link settings (WiFi bands only: 2.3/2.4/2.5/5.8 GHz)
  • Opens a full-width spectrum bar chart showing noise floor per channel — shorter bar = less noise = cleaner channel (spectrum-analyser style, Option A as agreed)
  • Colour-coded bars: green (< −88 dBm), yellow (−76 to −88 dBm), red (> −76 dBm)
  • Annotation bubble marks the recommended (cleanest) channel
  • "Use Recommended" button applies the winning frequency via the existing radio link frequency change path

Architecture

Router side (code/r_station/rf_scan.cpp):

  • Triggered by new IPC packet PACKET_TYPE_LOCAL_CONTROLLER_RF_SCAN_START (band flags in vehicle_id_dest)
  • Non-blocking scan state machine runs in router_periodic_loop() — one channel per tick
  • Hops through all band channels at 280 ms/channel via existing radio_links_set_cards_frequencies_for_search()
  • Reads per-channel noise floor via iw dev <iface> survey dump (supported by RTL8812AU, ath9k_htc)
  • Writes live results to /tmp/ruby_rf_scan_results.txt as each channel completes
  • Restores original frequencies on completion; sends PACKET_TYPE_LOCAL_CONTROLLER_RF_SCAN_RESULT back to central with best frequency

UI side (code/r_central/menu/menu_rf_scan.cpp):

  • periodicLoop() reads results file progressively — live graph updates as scan proceeds
  • Blue highlight tracks the channel currently being measured
  • On completion: best channel annotated with bubble + arrow; "Use Recommended: XXXX MHz" button enabled
  • Rescan and Cancel also available

Files changed

File Change
code/radio/local_packets.h +2 IPC packet type constants (231, 232)
code/r_central/menu/menu_objects.h +MENU_ID_RF_SCAN 140
code/r_station/rf_scan.h New — scanner public API
code/r_station/rf_scan.cpp New — scan state machine + iw survey parsing
code/r_station/process_local_packets.cpp Handle RF_SCAN_START message
code/r_station/periodic_loop.cpp Call rf_scan_periodic_loop()
code/r_central/menu/menu_rf_scan.h New — scan menu header
code/r_central/menu/menu_rf_scan.cpp New — spectrum bar chart UI
code/r_central/menu/menu_vehicle_radio_link.h +m_IndexScanFreq member
code/r_central/menu/menu_vehicle_radio_link.cpp +"Scan for Clean Channel" item + onReturnFromChild handler
Makefile Add rf_scan.o and menu_rf_scan.o
.gitignore Exclude .claude/ worktree directory

Test plan

  • Build ruby_rt_station and ruby_central on target hardware
  • Open Vehicle → Radio → Radio Link N → verify "Scan for Clean Channel" appears for 2.4/5.8 GHz links and is absent for SiK links
  • Trigger scan: bars appear progressively, blue highlight tracks current channel
  • Verify colour coding matches noise levels (green/yellow/red)
  • Verify annotation bubble appears on cleanest channel at end of scan
  • "Use Recommended" applies the frequency and closes the menu
  • "Rescan" clears and restarts
  • "Cancel" closes without changing frequency
  • Verify iw dev survey dump populates noise floor for RTL8812AU on 5.8 GHz

🤖 Generated with Claude Code

https://claude.ai/code/session_01JiQhEG8VApL39xVyJLXJ79

Generated by Claude Code

claude and others added 4 commits June 16, 2026 20:58
@claude
chore: add .gitignore to exclude Claude Code worktree directory
d8ef848 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01JiQhEG8VApL39xVyJLXJ79
@claude
feat: add RF spectrum scanner for clean frequency selection
c809ceb 
Adds a new "Scan for Clean Channel" menu item to the vehicle radio link
settings. Opens a full-width spectrum bar chart showing noise floor per
channel (shorter bar = less noise = cleaner, spectrum-analyser style).

Router-side (rf_scan.cpp): hops through all band channels at 280 ms/ch,
reads per-channel noise floor via `iw dev survey dump`, writes live
results to /tmp/ruby_rf_scan_results.txt, signals completion via IPC.

UI-side (menu_rf_scan.cpp): reads results file in periodicLoop, draws
bar chart with colour-coding (green/yellow/red) and an annotation bubble
over the cleanest channel. "Use Recommended" applies the winner via the
existing sendNewRadioLinkFrequency() path.

Only shown for 2.3/2.4/2.5/5.8 GHz links (not SiK/serial).

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01JiQhEG8VApL39xVyJLXJ79
@claude
chore: ignore compiled object files in .gitignore
9d1a651 
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
Claude-Session: https://claude.ai/code/session_01JiQhEG8VApL39xVyJLXJ79
@wkumik @claude
fix(rf-scan): safety guard, real busy-time metric, abortable scan
6cf7e0e 
Addresses review feedback on the RF spectrum scanner:

1. Safety: do not scan while flying. The scan hops the GS across the whole
   band, dropping video/telemetry/RC to the vehicle for several seconds.
   - Block opening the scan while the vehicle is armed (informational dialog).
   - Stop auto-starting the scan on menu open; require explicit "Start Scan".
   - Warn about the link interruption in the menu item description.

2. No fabricated data: the noise read returned a hard-coded -75 dBm when the
   card reported no survey data, silently recommending channel 0. Now an
   unreadable channel is marked invalid and excluded; if no channel yields
   data, the UI states the card does not support channel survey.

3. Better metric: replace noise floor (near-constant across a band) with the
   channel busy ratio (busy/active time) from `iw survey dump`. Chart now
   plots 0-100% busy; lower = cleaner. Recommendation = lowest busy %.

4. Remove dead RESULT packet path (no central handler existed); the UI reads
   the results file directly. Drops the unused IPC-to-central plumbing.

5. Abort on exit: send RF_SCAN_STOP on Cancel / Back / menu destruction so an
   in-progress scan restores the radio links immediately instead of running
   to completion after the user leaves.

Also fix the apply path: MenuRFScan's id was matched with iChildMenuId/1000
(=> 140==0, never true), so "Use Recommended" never applied the frequency.
Match the full child menu id instead.

GS-only change (local control packets 231/232); no vehicle rebuild needed.

Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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2 participants

@wkumik @claude