diff options
Diffstat (limited to 'apps/sensors/sensors.c')
| -rw-r--r-- | apps/sensors/sensors.c | 29 |
1 files changed, 16 insertions, 13 deletions
diff --git a/apps/sensors/sensors.c b/apps/sensors/sensors.c index 461b9805d..b456c4dfb 100644 --- a/apps/sensors/sensors.c +++ b/apps/sensors/sensors.c @@ -116,6 +116,7 @@ static void sensors_timer_loop(void *arg); #ifdef CONFIG_HRT_PPM extern uint16_t ppm_buffer[]; extern unsigned ppm_decoded_channels; +extern uint64_t ppm_last_valid_decode; #endif /* file handle that will be used for subscribing */ @@ -705,21 +706,23 @@ int sensors_main(int argc, char *argv[]) /* PPM */ if (ppmcounter == 5) { - /* Read out values from HRT */ - for (int i = 0; i < ppm_decoded_channels; i++) { - rc.chan[i].raw = ppm_buffer[i]; - /* Set the range to +-, then scale up */ - rc.chan[i].scale = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor; - } - - rc.chan_count = ppm_decoded_channels; - - rc.timestamp = hrt_absolute_time(); - /* publish a few lines of code later if set to true */ - ppm_updated = true; + /* require at least two channels + * to consider the signal valid + */ + if (ppm_decoded_channels > 1 && (hrt_absolute_time() - ppm_last_valid_decode) < 45000) { + /* Read out values from HRT */ + for (int i = 0; i < ppm_decoded_channels; i++) { + rc.chan[i].raw = ppm_buffer[i]; + /* Set the range to +-, then scale up */ + rc.chan[i].scale = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor; + } + rc.chan_count = ppm_decoded_channels; - //TODO: XXX check the mode switch channel and eventually send a request to the commander (see implementation in commander and mavlink) + rc.timestamp = ppm_last_valid_decode; + /* publish a few lines of code later if set to true */ + ppm_updated = true; + } ppmcounter = 0; } |