From 9c8101d4f189837fdf9b54e6b529ff3962f56c1c Mon Sep 17 00:00:00 2001 From: px4dev Date: Thu, 29 Nov 2012 10:18:21 -0800 Subject: Add some more information to comments. --- apps/px4io/dsm.c | 17 +++++++++-------- 1 file changed, 9 insertions(+), 8 deletions(-) (limited to 'apps/px4io') diff --git a/apps/px4io/dsm.c b/apps/px4io/dsm.c index 4384ab523..0e9fd25f1 100644 --- a/apps/px4io/dsm.c +++ b/apps/px4io/dsm.c @@ -199,6 +199,13 @@ dsm_guess_format(bool reset) /* * Iterate the set of sensible sniffed channel sets and see whether * decoding in 10 or 11-bit mode has yielded anything we recognise. + * + * XXX Note that due to what seem to be bugs in the DSM2 high-resolution + * stream, we may want to sniff for longer in some cases when we think we + * are talking to a DSM2 receiver in high-resolution mode (so that we can + * reject it, ideally). + * See e.g. http://git.openpilot.org/cru/OPReview-116 for a discussion + * of this issue. */ static uint32_t masks[] = { 0x3f, /* 6 channels (DX6) */ @@ -255,14 +262,8 @@ dsm_decode(hrt_abstime frame_time) } /* - * The encoding of the first byte is uncertain, so we're going - * to ignore it for now. - * - * The second byte may tell us about the protocol, but it's not - * actually very interesting since what we really want to know - * is how the channel data is formatted, and there doesn't seem - * to be a reliable way to determine this from the protocol ID - * alone. + * The encoding of the first two bytes is uncertain, so we're + * going to ignore them for now. * * Each channel is a 16-bit unsigned value containing either a 10- * or 11-bit channel value and a 4-bit channel number, shifted -- cgit v1.2.3