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drivers: rc_input only publish if more than 0 rc channels filled (fixes GHST auto scan)

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This commit is contained in:
Alex Klimaj 2024-04-09 09:19:41 -06:00 committed by GitHub
parent 64505b4b9c
commit 297ddabe70
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GPG Key ID: B5690EEEBB952194
2 changed files with 45 additions and 23 deletions
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60
src/drivers/rc_input/RCInput.cpp
View File

@ -191,7 +191,7 @@ RCInput::task_spawn(int argc, char *argv[])
return PX4_ERROR;
}
void
int32_t
RCInput::fill_rc_in(uint16_t raw_rc_count_local,
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
@ -262,6 +262,8 @@ RCInput::fill_rc_in(uint16_t raw_rc_count_local,
_input_rc.rc_lost = (valid_chans == 0);
_input_rc.rc_lost_frame_count = frame_drops;
_input_rc.rc_total_frame_count = 0;
return valid_chans;
}
void RCInput::set_rc_scan_state(RC_SCAN newState)
@ -494,9 +496,12 @@ void RCInput::Run()
if (rc_updated) {
// we have a new SBUS frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SBUS;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_locked = true;
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
sbus_frame_drop, sbus_failsafe, frame_drops);
if (valid_chans > 0) {
_rc_scan_locked = true;
}
}
}
@ -533,9 +538,12 @@ void RCInput::Run()
if (rc_updated) {
// we have a new DSM frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_DSM;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, dsm_rssi);
_rc_scan_locked = true;
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, dsm_rssi);
if (valid_chans > 0) {
_rc_scan_locked = true;
}
}
}
@ -580,9 +588,12 @@ void RCInput::Run()
if (lost_count == 0) {
// we have a new ST24 frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, st24_rssi);
_rc_scan_locked = true;
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, false, frame_drops, st24_rssi);
if (valid_chans > 0) {
_rc_scan_locked = true;
}
} else {
// if the lost count > 0 means that there is an RC loss
@ -629,9 +640,12 @@ void RCInput::Run()
if (rc_updated) {
// we have a new SUMD frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_SUMD;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, sumd_failsafe, frame_drops, sumd_rssi);
_rc_scan_locked = true;
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp,
false, sumd_failsafe, frame_drops, sumd_rssi);
if (valid_chans > 0) {
_rc_scan_locked = true;
}
}
}
@ -657,8 +671,12 @@ void RCInput::Run()
// we have a new PPM frame. Publish it.
rc_updated = true;
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
_rc_scan_locked = true;
int32_t valid_chans = fill_rc_in(ppm_decoded_channels, ppm_buffer, cycle_timestamp, false, false, 0);
if (valid_chans > 0) {
_rc_scan_locked = true;
}
_input_rc.rc_ppm_frame_length = ppm_frame_length;
_input_rc.timestamp_last_signal = ppm_last_valid_decode;
}
@ -699,7 +717,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new CRSF frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_CRSF;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0);
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0);
// on Pixhawk (-related) boards we cannot write to the RC UART
// another option is to use a different UART port
@ -711,7 +729,9 @@ void RCInput::Run()
#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */
_rc_scan_locked = true;
if (valid_chans > 0) {
_rc_scan_locked = true;
}
if (_crsf_telemetry) {
_crsf_telemetry->update(cycle_timestamp);
@ -749,7 +769,7 @@ void RCInput::Run()
if (rc_updated) {
// we have a new GHST frame. Publish it.
_input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_GHST;
fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
int32_t valid_chans = fill_rc_in(_raw_rc_count, _raw_rc_values, cycle_timestamp, false, false, 0, ghst_rssi);
// ghst telemetry works on fmu-v5
// on other Pixhawk (-related) boards we cannot write to the RC UART
@ -762,7 +782,9 @@ void RCInput::Run()
#endif /* BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT */
_rc_scan_locked = true;
if (valid_chans > 0) {
_rc_scan_locked = true;
}
if (_ghst_telemetry) {
_ghst_telemetry->update(cycle_timestamp);

8
src/drivers/rc_input/RCInput.hpp
View File

@ -118,10 +118,10 @@ private:
bool bind_spektrum(int arg = DSMX8_BIND_PULSES) const;
#endif // SPEKTRUM_POWER
void fill_rc_in(uint16_t raw_rc_count_local,
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
int32_t fill_rc_in(uint16_t raw_rc_count_local,
uint16_t raw_rc_values_local[input_rc_s::RC_INPUT_MAX_CHANNELS],
hrt_abstime now, bool frame_drop, bool failsafe,
unsigned frame_drops, int rssi);
void set_rc_scan_state(RC_SCAN _rc_scan_state);