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Minor but important fixes across system

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This commit is contained in:
Lorenz Meier
2012-08-08 18:47:46 +02:00
parent 7a6a4b9352
commit 7a912a3fe4
8 changed files with 243 additions and 160 deletions
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apps/sensors/sensors.c
+17 -14
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@@ -116,6 +116,7 @@ static void sensors_timer_loop(void *arg);
#ifdef CONFIG_HRT_PPM
extern uint16_t ppm_buffer[];
extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
#endif
/* file handle that will be used for subscribing */
@@ -705,21 +706,23 @@ int sensors_main(int argc, char *argv[])
/* PPM */
if (ppmcounter == 5) {
/* Read out values from HRT */
for (int i = 0; i < ppm_decoded_channels; i++) {
rc.chan[i].raw = ppm_buffer[i];
/* Set the range to +-, then scale up */
rc.chan[i].scale = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor;
/* require at least two channels
* to consider the signal valid
*/
if (ppm_decoded_channels > 1 && (hrt_absolute_time() - ppm_last_valid_decode) < 45000) {
/* Read out values from HRT */
for (int i = 0; i < ppm_decoded_channels; i++) {
rc.chan[i].raw = ppm_buffer[i];
/* Set the range to +-, then scale up */
rc.chan[i].scale = (ppm_buffer[i] - rc.chan[i].mid) * rc.chan[i].scaling_factor;
}
rc.chan_count = ppm_decoded_channels;
rc.timestamp = ppm_last_valid_decode;
/* publish a few lines of code later if set to true */
ppm_updated = true;
}
rc.chan_count = ppm_decoded_channels;
rc.timestamp = hrt_absolute_time();
/* publish a few lines of code later if set to true */
ppm_updated = true;
//TODO: XXX check the mode switch channel and eventually send a request to the commander (see implementation in commander and mavlink)
ppmcounter = 0;
}