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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/modules | |
| 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/modules')
| -rw-r--r-- | src/modules/mavlink/orb_listener.c | 2 | ||||
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 9 |
2 files changed, 7 insertions, 4 deletions
diff --git a/src/modules/mavlink/orb_listener.c b/src/modules/mavlink/orb_listener.c index 92b1b45be..41c754405 100644 --- a/src/modules/mavlink/orb_listener.c +++ b/src/modules/mavlink/orb_listener.c @@ -355,7 +355,7 @@ l_input_rc(const struct listener *l) for (unsigned i = 0; (i * port_width) < (rc_raw.channel_count + port_width); i++) { /* Channels are sent in MAVLink main loop at a fixed interval */ mavlink_msg_rc_channels_raw_send(chan, - rc_raw.timestamp / 1000, + rc_raw.timestamp_publication / 1000, i, (rc_raw.channel_count > (i * port_width) + 0) ? rc_raw.values[(i * port_width) + 0] : UINT16_MAX, (rc_raw.channel_count > (i * port_width) + 1) ? rc_raw.values[(i * port_width) + 1] : UINT16_MAX, diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 23f20b0cb..df6cbb7b2 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1276,6 +1276,9 @@ Sensors::rc_poll() orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + if (rc_input.rc_lost) + return; + struct manual_control_setpoint_s manual_control; struct actuator_controls_s actuator_group_3; @@ -1320,7 +1323,7 @@ Sensors::rc_poll() channel_limit = _rc_max_chan_count; /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp; + _rc_last_valid = rc_input.timestamp_last_signal; /* Read out values from raw message */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1369,9 +1372,9 @@ Sensors::rc_poll() } _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; + _rc.timestamp = rc_input.timestamp_last_signal; - manual_control.timestamp = rc_input.timestamp; + manual_control.timestamp = rc_input.timestamp_last_signal; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); |