diff options
Diffstat (limited to 'src/drivers/px4io')
| -rw-r--r-- | src/drivers/px4io/px4io.cpp | 10 |
1 files changed, 10 insertions, 0 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index b80844c5b..010272c6f 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1724,6 +1724,16 @@ PX4IO::print_status() printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i)); printf("\n"); + + if (raw_inputs > 0) { + int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA); + printf("RC data (PPM frame len) %u us\n", frame_len); + + if ((frame_len - raw_inputs * 2000 - 3000) < 0) { + printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n"); + } + } + uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID); printf("mapped R/C inputs 0x%04x", mapped_inputs); |