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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-25 15:11:48 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-25 15:11:48 +0100 |
| commit | edffade8cec2ea779040e97fb5478e0e9db12031 (patch) | |
| tree | 1560c0e4cc3f5c58b092e86cd30beb7524ff5a46 /src/drivers | |
| parent | a5023329920d5ce45c5bf48ae61d621947cdb349 (diff) | |
| download | px4-firmware-edffade8cec2ea779040e97fb5478e0e9db12031.tar.gz px4-firmware-edffade8cec2ea779040e97fb5478e0e9db12031.tar.bz2 px4-firmware-edffade8cec2ea779040e97fb5478e0e9db12031.zip | |
Added PPM frame length feedback in IO comms and status command - allows to warn users about badly formatted PPM frames
Diffstat (limited to 'src/drivers')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b80844c5b..010272c6f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1724,6 +1724,16 @@ PX4IO::print_status() printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); printf("\n"); + + if (raw_inputs > 0) { + int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA); + printf("RC data (PPM frame len) %u us\n", frame_len); + + if ((frame_len - raw_inputs * 2000 - 3000) < 0) { + printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n"); + } + } + uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); printf("mapped R/C inputs 0x%04x", mapped_inputs); |