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| author | Lorenz Meier <lm@qgroundcontrol.org> | 2014-11-17 00:03:31 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@qgroundcontrol.org> | 2014-11-17 00:03:31 +0100 |
| commit | 4a66b29e555a456774ba48f42461162e32db2526 (patch) | |
| tree | e93df1237df3ad9e4b67c49e789fb68e3c976ef1 /src/modules/px4iofirmware | |
| parent | 52d5a7c00aa74fe0d4241f7e6636dfd6e48d0acf (diff) | |
| parent | 7480fc92d03d37e33b726a4939ac4d4e9b965edd (diff) | |
| download | px4-firmware-4a66b29e555a456774ba48f42461162e32db2526.tar.gz px4-firmware-4a66b29e555a456774ba48f42461162e32db2526.tar.bz2 px4-firmware-4a66b29e555a456774ba48f42461162e32db2526.zip | |
Merge pull request #1420 from PX4/rctype
Encode RC type in RSSI field for GCS
Diffstat (limited to 'src/modules/px4iofirmware')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index e3cb8d820..58c9429b6 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -41,6 +41,7 @@ #include <stdbool.h> #include <drivers/drv_hrt.h> +#include <drivers/drv_rc_input.h> #include <systemlib/perf_counter.h> #include <systemlib/ppm_decode.h> #include <rc/st24.h> @@ -70,7 +71,6 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) uint8_t *bytes; *dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes); if (*dsm_updated) { - r_raw_rc_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; r_raw_rc_count = temp_count & 0x7fff; if (temp_count & 0x8000) r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; @@ -91,6 +91,7 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated) for (unsigned i = 0; i < n_bytes; i++) { /* set updated flag if one complete packet was parsed */ + st24_rssi = RC_INPUT_RSSI_MAX; *st24_updated |= (OK == st24_decode(bytes[i], &st24_rssi, &rx_count, &st24_channel_count, r_raw_rc_values, PX4IO_RC_INPUT_CHANNELS)); } @@ -170,6 +171,12 @@ controls_tick() { perf_begin(c_gather_dsm); bool dsm_updated, st24_updated; (void)dsm_port_input(&rssi, &dsm_updated, &st24_updated); + if (dsm_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_DSM; + } + if (st24_updated) { + r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_ST24; + } perf_end(c_gather_dsm); perf_begin(c_gather_sbus); |