Tristan

I extracted the RxChan. The first byte is the channel and the other byte is some value that didn't change during my measurements. It is different for different channels but...

According to this file: https://github.com/MerlinRdev/86u-merlin/blob/master/release/src-rt-5.02hnd/bcmdrivers/broadcom/net/wl/impl51/4365/src/include/d11.h#L2971 PhyRxStatus_2 contains "lnagn", "pgagn", and "foff". I don't know for sure what these variables mean, but maybe "low noise amplifier gain" etc. In one of...

Take a look at the fork from mzakharo and the csi_extractor.c file. In this fork the RSSI and Phystatus are recovered. I just plotted them in the above answer. However...

I don't know if these values are included in the d11rxhdr, but basically you can also read all the phyreg values. Maybe they are included there or can be calculated...

Yes, I think I figured it out to some degree. Basically, you have to read two PHY-Register entries: GainInfo and auxphystats. After applying some bitshifts and bitmask you will get...

I published my csi/gain recovery patch here: https://github.com/T3rO/nexmon_csi_gain. Hopefully this can help. If anything is unclear, feel free to ask.

> [#46 (comment)](https://github.com/seemoo-lab/nexmon_csi/pull/46#issuecomment-929382492) > > new reference for phy registers, naming seems to be different. That file is not for the phy register but for d11. You need wlc_phyreg_ac.h. But...

Has anyone found a solution for this?

For ROS Iron I deleted gz_ros2_control from ws_moveit/src then download again, but the iron branch: git clone https://github.com/ros-controls/gz_ros2_control -b iron

> @T3rO I just tried that but it gives me a new error upon colcon build: [Error output gist](https://gist.github.com/muhidabid/b66674ea0f81c0ac04623db913726758) Yes I had this error too. I used this fix: https://github.com/PickNikRobotics/ros2_robotiq_gripper/issues/60