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Differentiate between publication and signal receive timestamp, correctly set the rc_lost flag in the frame. Ready for prime-time testing.

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Lorenz Meier
2014-01-26 14:52:46 +01:00
parent 731ab465b3
commit 9cdbbab855
6 changed files with 59 additions and 15 deletions
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src/drivers/px4fmu/fmu.cpp
+10 -2
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@@ -626,7 +626,7 @@ PX4FMU::task_main()
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if (ppm_last_valid_decode != rc_in.timestamp) {
if (ppm_last_valid_decode != rc_in.timestamp_last_signal) {
// we have a new PPM frame. Publish it.
rc_in.channel_count = ppm_decoded_channels;
@@ -638,7 +638,15 @@ PX4FMU::task_main()
rc_in.values[i] = ppm_buffer[i];
}
rc_in.timestamp = ppm_last_valid_decode;
rc_in.timestamp_publication = ppm_last_valid_decode;
rc_in.timestamp_last_signal = ppm_last_valid_decode;
rc_in.rc_ppm_frame_length = ppm_frame_length;
rc_in.rssi = RC_INPUT_RSSI_MAX;
rc_in.rc_failsafe = false;
rc_in.rc_lost = false;
rc_in.rc_lost_frame_count = 0;
rc_in.rc_total_frame_count = 0;
/* lazily advertise on first publication */
if (to_input_rc == 0) {