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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-12 11:25:37 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-05-12 11:25:37 +0200 |
| commit | 2f5d0cd2f818c0824b9c6c1a360d4d643c6e8c40 (patch) | |
| tree | 60aa7d0820b7898b3adf346a5b4818c3ea691975 | |
| parent | dd04a70afa94980dc38a82c592dc61e062c3f853 (diff) | |
| download | px4-firmware-2f5d0cd2f818c0824b9c6c1a360d4d643c6e8c40.tar.gz px4-firmware-2f5d0cd2f818c0824b9c6c1a360d4d643c6e8c40.tar.bz2 px4-firmware-2f5d0cd2f818c0824b9c6c1a360d4d643c6e8c40.zip | |
Set an RC status flag so that we can read out the RC status in parallel to the RC data
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 7 | ||||
| -rw-r--r-- | src/modules/px4iofirmware/protocol.h | 1 |
2 files changed, 7 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 56c5aa005..62e6b12cb 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -291,6 +291,7 @@ controls_tick() { /* set RC OK flag, as we got an update */ r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK; + r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK; /* if we have enough channels (5) to control the vehicle, the mapping is ok */ if (assigned_channels > 4) { @@ -336,6 +337,9 @@ controls_tick() { PX4IO_P_STATUS_FLAGS_OVERRIDE | PX4IO_P_STATUS_FLAGS_RC_OK); + /* flag raw RC as lost */ + r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK); + /* Mark all channels as invalid, as we just lost the RX */ r_rc_valid = 0; @@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len) if (*num_values > PX4IO_RC_INPUT_CHANNELS) *num_values = PX4IO_RC_INPUT_CHANNELS; - for (unsigned i = 0; i < *num_values; i++) + for (unsigned i = 0; i < *num_values; i++) { values[i] = ppm_buffer[i]; + } /* clear validity */ ppm_last_valid_decode = 0; diff --git a/src/modules/px4iofirmware/protocol.h b/src/modules/px4iofirmware/protocol.h index 6c20d6006..91975f2a0 100644 --- a/src/modules/px4iofirmware/protocol.h +++ b/src/modules/px4iofirmware/protocol.h @@ -142,6 +142,7 @@ #define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */ #define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */ #define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */ +#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */ #define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */ #define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */ |