diff options
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 62 |
1 files changed, 31 insertions, 31 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index 4d72ead9b..5cf28678c 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -670,37 +670,37 @@ PX4FMU::task_main() #ifdef HRT_PPM_CHANNEL - // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp_last_signal) { - // we have a new PPM frame. Publish it. - rc_in.channel_count = ppm_decoded_channels; - - if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { - rc_in.channel_count = RC_INPUT_MAX_CHANNELS; - } - - for (uint8_t i = 0; i < rc_in.channel_count; i++) { - rc_in.values[i] = ppm_buffer[i]; - } - - rc_in.timestamp_publication = ppm_last_valid_decode; - rc_in.timestamp_last_signal = ppm_last_valid_decode; - - rc_in.rc_ppm_frame_length = ppm_frame_length; - rc_in.rssi = RC_INPUT_RSSI_MAX; - rc_in.rc_failsafe = false; - rc_in.rc_lost = false; - rc_in.rc_lost_frame_count = 0; - rc_in.rc_total_frame_count = 0; - - /* lazily advertise on first publication */ - if (to_input_rc == 0) { - to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); - - } else { - orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); - } - } + // // see if we have new PPM input data + // if (ppm_last_valid_decode != rc_in.timestamp_last_signal) { + // // we have a new PPM frame. Publish it. + // rc_in.channel_count = ppm_decoded_channels; + + // if (rc_in.channel_count > RC_INPUT_MAX_CHANNELS) { + // rc_in.channel_count = RC_INPUT_MAX_CHANNELS; + // } + + // for (uint8_t i = 0; i < rc_in.channel_count; i++) { + // rc_in.values[i] = ppm_buffer[i]; + // } + + // rc_in.timestamp_publication = ppm_last_valid_decode; + // rc_in.timestamp_last_signal = ppm_last_valid_decode; + + // rc_in.rc_ppm_frame_length = ppm_frame_length; + // rc_in.rssi = RC_INPUT_RSSI_MAX; + // rc_in.rc_failsafe = false; + // rc_in.rc_lost = false; + // rc_in.rc_lost_frame_count = 0; + // rc_in.rc_total_frame_count = 0; + + // /* lazily advertise on first publication */ + // if (to_input_rc == 0) { + // to_input_rc = orb_advertise(ORB_ID(input_rc), &rc_in); + + // } else { + // orb_publish(ORB_ID(input_rc), to_input_rc, &rc_in); + // } + // } #endif |