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Set an RC status flag so that we can read out the RC status in parallel to the RC data

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Lorenz Meier
2014-05-14 08:00:00 +02:00
parent 178a3e8567
commit 97fb361ea9
2 changed files with 7 additions and 1 deletions
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src/modules/px4iofirmware/controls.c
+6 -1
View File
@@ -291,6 +291,7 @@ controls_tick() {
/* set RC OK flag, as we got an update */
r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_OK;
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_OK;
/* if we have enough channels (5) to control the vehicle, the mapping is ok */
if (assigned_channels > 4) {
@@ -336,6 +337,9 @@ controls_tick() {
PX4IO_P_STATUS_FLAGS_OVERRIDE |
PX4IO_P_STATUS_FLAGS_RC_OK);
/* flag raw RC as lost */
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_RC_OK);
/* Mark all channels as invalid, as we just lost the RX */
r_rc_valid = 0;
@@ -405,8 +409,9 @@ ppm_input(uint16_t *values, uint16_t *num_values, uint16_t *frame_len)
if (*num_values > PX4IO_RC_INPUT_CHANNELS)
*num_values = PX4IO_RC_INPUT_CHANNELS;
for (unsigned i = 0; i < *num_values; i++)
for (unsigned i = 0; i < *num_values; i++) {
values[i] = ppm_buffer[i];
}
/* clear validity */
ppm_last_valid_decode = 0;
src/modules/px4iofirmware/protocol.h
+1
View File
@@ -142,6 +142,7 @@
#define PX4IO_P_RAW_RC_FLAGS_FAILSAFE (1 << 1) /* receiver is in failsafe mode */
#define PX4IO_P_RAW_RC_FLAGS_RC_DSM11 (1 << 2) /* DSM decoding is 11 bit mode */
#define PX4IO_P_RAW_RC_FLAGS_MAPPING_OK (1 << 3) /* Channel mapping is ok */
#define PX4IO_P_RAW_RC_FLAGS_RC_OK (1 << 4) /* RC reception ok */
#define PX4IO_P_RAW_RC_NRSSI 2 /* [2] Normalized RSSI value, 0: no reception, 255: perfect reception */
#define PX4IO_P_RAW_RC_DATA 3 /* [1] + [2] Details about the RC source (PPM frame length, Spektrum protocol type) */