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Merged DSM fixes

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Lorenz Meier
2012-12-05 19:55:33 +01:00
parent 126e6ac207 fd771f67f2
commit 1ebb3b4ada
22 changed files with 784 additions and 123 deletions
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apps/px4io/comms.c
+4 -10
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@@ -100,8 +100,8 @@ comms_main(void)
debug("FMU: ready");
for (;;) {
/* wait for serial data, but no more than 100ms */
poll(&fds, 1, 100);
/* wait for serial data, but no more than 10ms */
poll(&fds, 1, 10);
/*
* Pull bytes from FMU and feed them to the HX engine.
@@ -130,15 +130,9 @@ comms_main(void)
last_report_time = now;
/* populate the report */
for (int i = 0; i < system_state.rc_channels; i++)
for (unsigned i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i];
if (system_state.sbus_input_ok || system_state.dsm_input_ok || system_state.ppm_input_ok) {
report.channel_count = system_state.rc_channels;
} else {
report.channel_count = 0;
}
report.channel_count = system_state.rc_channels;
report.armed = system_state.armed;
/* and send it */