diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-13 10:03:39 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-11-13 10:03:39 +0100 |
| commit | 050698bedc9340bfc23ed18dfa84de664747e678 (patch) | |
| tree | 76c9eeff83abe810221a3fada7ae79dcd4aa25ee /apps/sensors | |
| parent | a1059c5657d9d2b83d0ef7fe51b0997bb983d86e (diff) | |
| download | px4-firmware-050698bedc9340bfc23ed18dfa84de664747e678.tar.gz px4-firmware-050698bedc9340bfc23ed18dfa84de664747e678.tar.bz2 px4-firmware-050698bedc9340bfc23ed18dfa84de664747e678.zip | |
Added missing channel count in px4io driver
Diffstat (limited to 'apps/sensors')
| -rw-r--r-- | apps/sensors/sensors.cpp | 6 |
1 files changed, 5 insertions, 1 deletions
diff --git a/apps/sensors/sensors.cpp b/apps/sensors/sensors.cpp index 675a8602a..7c1503f0d 100644 --- a/apps/sensors/sensors.cpp +++ b/apps/sensors/sensors.cpp @@ -93,6 +93,8 @@ #define BAT_VOL_LOWPASS_2 0.01f #define VOLTAGE_BATTERY_IGNORE_THRESHOLD_VOLTS 3.5f +#define PPM_INPUT_TIMEOUT_INTERVAL 50000 /**< 50 ms timeout / 20 Hz */ + /** * Sensor app start / stop handling function * @@ -865,8 +867,10 @@ Sensors::ppm_poll() struct rc_input_values raw; raw.timestamp = ppm_last_valid_decode; + /* we are accepting this message */ + _ppm_last_valid = ppm_last_valid_decode; - if (ppm_decoded_channels > 1) { + if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) { for (int i = 0; i < ppm_decoded_channels; i++) { raw.values[i] = ppm_buffer[i]; |