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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-26 14:52:46 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-01-26 14:52:46 +0100 |
| commit | 9cdbbab855d463bffb39d8dd55888fc1e0423818 (patch) | |
| tree | 73ceaaab28d0fd08ea47c02eab66c11638c86e58 /src/drivers/px4fmu | |
| parent | 731ab465b3d7d40ffb5ce3ca3d14660c6fee1ae6 (diff) | |
| download | px4-firmware-9cdbbab855d463bffb39d8dd55888fc1e0423818.tar.gz px4-firmware-9cdbbab855d463bffb39d8dd55888fc1e0423818.tar.bz2 px4-firmware-9cdbbab855d463bffb39d8dd55888fc1e0423818.zip | |
Differentiate between publication and signal receive timestamp, correctly set the rc_lost flag in the frame. Ready for prime-time testing.
Diffstat (limited to 'src/drivers/px4fmu')
| -rw-r--r-- | src/drivers/px4fmu/fmu.cpp | 12 |
1 files changed, 10 insertions, 2 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp index c067d363b..0fbd84924 100644 --- a/src/drivers/px4fmu/fmu.cpp +++ b/src/drivers/px4fmu/fmu.cpp @@ -626,7 +626,7 @@ PX4FMU::task_main() #ifdef HRT_PPM_CHANNEL // see if we have new PPM input data - if (ppm_last_valid_decode != rc_in.timestamp) { + 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; @@ -638,7 +638,15 @@ PX4FMU::task_main() rc_in.values[i] = ppm_buffer[i]; } - rc_in.timestamp = ppm_last_valid_decode; + 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) { |