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rc_update: require consecutive valid input_rc before publishing

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This commit is contained in:
Daniel Agar 2021-04-15 10:57:36 -04:00
parent 96c7fe4978
commit 2492fb35e4
1 changed files with 27 additions and 23 deletions
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50
src/modules/rc_update/rc_update.cpp
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@ -424,35 +424,39 @@ void RCUpdate::Run()
/* publish rc_channels topic even if signal is invalid, for debug */
_rc_channels_pub.publish(_rc);
/* only publish manual control if the signal is present */
if (input_source_stable && channel_count_stable && !signal_lost
&& (input_rc.timestamp_last_signal > _last_timestamp_signal)) {
// only publish manual control if the signal is present and regularly updating
if (input_source_stable && channel_count_stable && !signal_lost) {
_last_timestamp_signal = input_rc.timestamp_last_signal;
perf_count(_valid_data_interval_perf);
if ((input_rc.timestamp_last_signal > _last_timestamp_signal)
&& (input_rc.timestamp_last_signal - _last_timestamp_signal < 1_s)) {
// check if channels actually updated
bool rc_updated = false;
perf_count(_valid_data_interval_perf);
for (unsigned i = 0; i < channel_count_limited; i++) {
if (_rc_values_previous[i] != input_rc.values[i]) {
rc_updated = true;
break;
// check if channels actually updated
bool rc_updated = false;
for (unsigned i = 0; i < channel_count_limited; i++) {
if (_rc_values_previous[i] != input_rc.values[i]) {
rc_updated = true;
break;
}
}
// limit processing if there's no update
if (rc_updated || (hrt_elapsed_time(&_last_manual_control_setpoint_publish) > 300_ms)) {
UpdateManualSetpoint(input_rc.timestamp_last_signal);
}
UpdateManualSwitches(input_rc.timestamp_last_signal);
/* Update parameters from RC Channels (tuning with RC) if activated */
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) {
set_params_from_rc();
_last_rc_to_param_map_time = hrt_absolute_time();
}
}
// limit processing if there's no update
if (rc_updated || (hrt_elapsed_time(&_last_manual_control_setpoint_publish) > 300_ms)) {
UpdateManualSetpoint(input_rc.timestamp_last_signal);
}
UpdateManualSwitches(input_rc.timestamp_last_signal);
/* Update parameters from RC Channels (tuning with RC) if activated */
if (hrt_elapsed_time(&_last_rc_to_param_map_time) > 1_s) {
set_params_from_rc();
_last_rc_to_param_map_time = hrt_absolute_time();
}
_last_timestamp_signal = input_rc.timestamp_last_signal;
}
memcpy(_rc_values_previous, input_rc.values, sizeof(input_rc.values[0]) * channel_count_limited);