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Read out the RC status at the same transfer as the channels to ensure we got synchronized data

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Lorenz Meier
2014-05-14 08:00:41 +02:00
parent 97fb361ea9
commit 8deb1c9160
1 changed files with 3 additions and 1 deletions
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src/drivers/px4io/px4io.cpp
+3 -1
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@@ -1477,12 +1477,14 @@ PX4IO::io_get_raw_rc_input(rc_input_values &input_rc)
input_rc.rc_ppm_frame_length = regs[PX4IO_P_RAW_RC_DATA];
input_rc.rssi = regs[PX4IO_P_RAW_RC_NRSSI];
input_rc.rc_failsafe = (regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
input_rc.rc_lost = !(regs[PX4IO_P_RAW_RC_FLAGS] & PX4IO_P_RAW_RC_FLAGS_RC_OK);
input_rc.rc_lost_frame_count = regs[PX4IO_P_RAW_LOST_FRAME_COUNT];
input_rc.rc_total_frame_count = regs[PX4IO_P_RAW_FRAME_COUNT];
/* rc_lost has to be set before the call to this function */
if (!input_rc.rc_lost && !input_rc.rc_failsafe)
if (!input_rc.rc_lost && !input_rc.rc_failsafe) {
_rc_last_valid = input_rc.timestamp_publication;
}
input_rc.timestamp_last_signal = _rc_last_valid;