diff options
| author | px4dev <px4@purgatory.org> | 2013-07-14 13:04:44 -0700 |
|---|---|---|
| committer | px4dev <px4@purgatory.org> | 2013-07-14 13:04:44 -0700 |
| commit | dca9019f75ddf31a5477db935252eb009a0be655 (patch) | |
| tree | 6fd0661f9e2c7035097bf2b044b33e95ae352caf /src/modules/px4iofirmware/controls.c | |
| parent | 6cf120831289368015b7b4f51db4f99f418e7129 (diff) | |
| parent | 60ce9759d9d5a9b5f2e9fd218852fa595cc7bebd (diff) | |
| download | px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.tar.gz px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.tar.bz2 px4-firmware-dca9019f75ddf31a5477db935252eb009a0be655.zip | |
Merge branch 'master' of https://github.com/PX4/Firmware into fmuv2_bringup
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 11 |
1 files changed, 9 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 5a95a8aa9..74037d1c2 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -95,9 +95,16 @@ controls_tick() { */ perf_begin(c_gather_dsm); - bool dsm_updated = dsm_input(r_raw_rc_values, &r_raw_rc_count); - if (dsm_updated) + uint16_t temp_count = r_raw_rc_count; + bool dsm_updated = dsm_input(r_raw_rc_values, &temp_count); + if (dsm_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + r_raw_rc_count = temp_count & 0x7fff; + if (temp_count & 0x8000) + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM11; + else + r_status_flags &= ~PX4IO_P_STATUS_FLAGS_RC_DSM11; + } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); |