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remove extraneous rescan tests

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This commit is contained in:
Mark Whitehorn 2016-01-13 21:59:57 -07:00 committed by Lorenz Meier
parent 4d7fe08069
commit ab1bbb9ed8
1 changed files with 11 additions and 17 deletions
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28
src/drivers/px4fmu/fmu.cpp
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@ -136,7 +136,6 @@ private:
"ST24"
};
hrt_abstime _rc_scan_last_lock = 0;
hrt_abstime _rc_scan_begin = 0;
bool _rc_scan_locked = false;
bool _report_lock = true;
@ -930,7 +929,7 @@ PX4FMU::cycle()
sbus_config(_rcs_fd, false);
rc_io_invert(true);
} else if (now - _rc_scan_last_lock < rc_scan_max
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
// parse new data
@ -942,12 +941,11 @@ PX4FMU::cycle()
// we have a new SBUS frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
sbus_frame_drop, sbus_failsafe, frame_drops);
_rc_scan_last_lock = now;
_rc_scan_locked = true;
_rc_scan_locked = true;
}
}
} else if (!_rc_scan_locked) {
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_DSM);
}
@ -961,7 +959,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (now - _rc_scan_last_lock < rc_scan_max
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
@ -973,12 +971,11 @@ PX4FMU::cycle()
// we have a new DSM frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops);
_rc_scan_last_lock = now;
_rc_scan_locked = true;
}
}
} else if (!_rc_scan_locked) {
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_ST24);
}
@ -992,7 +989,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (now - _rc_scan_last_lock < rc_scan_max
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
@ -1012,12 +1009,11 @@ PX4FMU::cycle()
// we have a new ST24 frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops, st24_rssi);
_rc_scan_last_lock = now;
_rc_scan_locked = true;
}
}
} else if (!_rc_scan_locked) {
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_SUMD);
}
@ -1031,7 +1027,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd);
rc_io_invert(false);
} else if (now - _rc_scan_last_lock < rc_scan_max
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) {
@ -1051,12 +1047,11 @@ PX4FMU::cycle()
// we have a new SUMD frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops, sumd_rssi);
_rc_scan_last_lock = now;
_rc_scan_locked = true;
}
}
} else if (!_rc_scan_locked) {
} else {
// Scan the next protocol
set_rc_scan_state(RC_SCAN_SUMD);
}
@ -1073,7 +1068,7 @@ PX4FMU::cycle()
stm32_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
} else if (now - _rc_scan_last_lock < rc_scan_max
} else if (_rc_scan_locked
|| now - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
@ -1083,11 +1078,10 @@ PX4FMU::cycle()
rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
false, false, 0);
_rc_scan_last_lock = now;
_rc_scan_locked = true;
}
} else if (!_rc_scan_locked) {
} else {
// disable CPPM input by mapping it away from the timer capture input
stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
// Scan the next protocol