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working on better status reporting, removed unneeded fake PWM generation from FMU

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This commit is contained in:
Lorenz Meier
2013-02-24 20:24:21 +01:00
parent bde6204b33
commit 35369471db
2 changed files with 23 additions and 39 deletions
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apps/sensors/sensors.cpp
-30
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@@ -1074,36 +1074,6 @@ Sensors::adc_poll(struct sensor_combined_s &raw)
void
Sensors::ppm_poll()
{
/* fake low-level driver, directly pulling from driver variables */
static orb_advert_t rc_input_pub = -1;
struct rc_input_values raw;
raw.timestamp = ppm_last_valid_decode;
/* we are accepting this message */
_ppm_last_valid = ppm_last_valid_decode;
/*
* relying on two decoded channels is very noise-prone,
* in particular if nothing is connected to the pins.
* requiring a minimum of four channels
*/
if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
for (unsigned i = 0; i < ppm_decoded_channels; i++) {
raw.values[i] = ppm_buffer[i];
}
raw.channel_count = ppm_decoded_channels;
/* publish to object request broker */
if (rc_input_pub <= 0) {
rc_input_pub = orb_advertise(ORB_ID(input_rc), &raw);
} else {
orb_publish(ORB_ID(input_rc), rc_input_pub, &raw);
}
}
/* read low-level values from FMU or IO RC inputs (PPM, Spektrum, S.Bus) */
bool rc_updated;