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Diffstat (limited to 'src/drivers/px4fmu/fmu.cpp')
-rw-r--r--src/drivers/px4fmu/fmu.cpp12
1 files changed, 10 insertions, 2 deletions
diff --git a/src/drivers/px4fmu/fmu.cpp b/src/drivers/px4fmu/fmu.cpp
index c067d363b..0fbd84924 100644
--- a/src/drivers/px4fmu/fmu.cpp
+++ b/src/drivers/px4fmu/fmu.cpp
@@ -626,7 +626,7 @@ PX4FMU::task_main()
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
- if (ppm_last_valid_decode != rc_in.timestamp) {
+ if (ppm_last_valid_decode != rc_in.timestamp_last_signal) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
@@ -638,7 +638,15 @@ PX4FMU::task_main()
rc_in.values[i] = ppm_buffer[i];
}
- rc_in.timestamp = ppm_last_valid_decode;
+ rc_in.timestamp_publication = ppm_last_valid_decode;
+ rc_in.timestamp_last_signal = ppm_last_valid_decode;
+
+ rc_in.rc_ppm_frame_length = ppm_frame_length;
+ rc_in.rssi = RC_INPUT_RSSI_MAX;
+ rc_in.rc_failsafe = false;
+ rc_in.rc_lost = false;
+ rc_in.rc_lost_frame_count = 0;
+ rc_in.rc_total_frame_count = 0;
/* lazily advertise on first publication */
if (to_input_rc == 0) {