diff options
Diffstat (limited to 'src/modules/px4iofirmware/sbus.c')
| -rw-r--r-- | src/modules/px4iofirmware/sbus.c | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/px4iofirmware/sbus.c b/src/modules/px4iofirmware/sbus.c index 073ddeaba..c523df6ca 100644 --- a/src/modules/px4iofirmware/sbus.c +++ b/src/modules/px4iofirmware/sbus.c @@ -66,7 +66,7 @@ static unsigned partial_frame_count; unsigned sbus_frame_drops; -static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values); +static bool sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_channels); int sbus_init(const char *device) @@ -97,7 +97,7 @@ sbus_init(const char *device) } bool -sbus_input(uint16_t *values, uint16_t *num_values) +sbus_input(uint16_t *values, uint16_t *num_values, uint16_t max_channels) { ssize_t ret; hrt_abstime now; @@ -154,7 +154,7 @@ sbus_input(uint16_t *values, uint16_t *num_values) * decode it. */ partial_frame_count = 0; - return sbus_decode(now, values, num_values); + return sbus_decode(now, values, num_values, max_channels); } /* @@ -194,7 +194,7 @@ static const struct sbus_bit_pick sbus_decoder[SBUS_INPUT_CHANNELS][3] = { }; static bool -sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) +sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values, uint16_t max_values) { /* check frame boundary markers to avoid out-of-sync cases */ if ((frame[0] != 0x0f) || (frame[24] != 0x00)) { @@ -214,8 +214,8 @@ sbus_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values) /* we have received something we think is a frame */ last_frame_time = frame_time; - unsigned chancount = (PX4IO_INPUT_CHANNELS > SBUS_INPUT_CHANNELS) ? - SBUS_INPUT_CHANNELS : PX4IO_INPUT_CHANNELS; + unsigned chancount = (max_values > SBUS_INPUT_CHANNELS) ? + SBUS_INPUT_CHANNELS : max_values; /* use the decoder matrix to extract channel data */ for (unsigned channel = 0; channel < chancount; channel++) { |