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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/modules/sensors/sensors.cpp
+6 -3
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@@ -1276,6 +1276,9 @@ Sensors::rc_poll()
orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input);
if (rc_input.rc_lost)
return;
struct manual_control_setpoint_s manual_control;
struct actuator_controls_s actuator_group_3;
@@ -1320,7 +1323,7 @@ Sensors::rc_poll()
channel_limit = _rc_max_chan_count;
/* we are accepting this message */
_rc_last_valid = rc_input.timestamp;
_rc_last_valid = rc_input.timestamp_last_signal;
/* Read out values from raw message */
for (unsigned int i = 0; i < channel_limit; i++) {
@@ -1369,9 +1372,9 @@ Sensors::rc_poll()
}
_rc.chan_count = rc_input.channel_count;
_rc.timestamp = rc_input.timestamp;
_rc.timestamp = rc_input.timestamp_last_signal;
manual_control.timestamp = rc_input.timestamp;
manual_control.timestamp = rc_input.timestamp_last_signal;
/* roll input - rolling right is stick-wise and rotation-wise positive */
manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled);