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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 07:50:36 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-02-21 08:07:49 +0100 |
| commit | 9828d5ede474723d83b189c394397d78c7050b7a (patch) | |
| tree | ebea5145801e02c5e48c581dfcf2139e51ed4ddc | |
| parent | 2d97dff35c2976c7ba98e97a66b4a141cfb8960e (diff) | |
| download | px4-firmware-9828d5ede474723d83b189c394397d78c7050b7a.tar.gz px4-firmware-9828d5ede474723d83b189c394397d78c7050b7a.tar.bz2 px4-firmware-9828d5ede474723d83b189c394397d78c7050b7a.zip | |
Fix copyright, do not return junk channel #13 that Spektrum gives us.
| -rw-r--r-- | src/modules/px4iofirmware/dsm.c | 11 |
1 files changed, 10 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/dsm.c b/src/modules/px4iofirmware/dsm.c index 70f31240a..0d3eb2606 100644 --- a/src/modules/px4iofirmware/dsm.c +++ b/src/modules/px4iofirmware/dsm.c @@ -1,6 +1,6 @@ /**************************************************************************** * - * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * Copyright (c) 2012-2014 PX4 Development Team. All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions @@ -401,6 +401,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) values[channel] = value; } + /* + * Spektrum likes to send junk in higher channel numbers to fill + * their packets. We don't know about a 13 channel model in their TX + * lines, so if we get a channel count of 13, we'll return 12 (the last + * data index that is stable). + */ + if (*num_values == 13) + *num_values = 12; + if (dsm_channel_shift == 11) { /* Set the 11-bit data indicator */ *num_values |= 0x8000; |