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remove extraneous rescan tests

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This commit is contained in:
Mark Whitehorn
2016-01-14 17:55:55 +01:00
committed by Lorenz Meier
parent 4d7fe08069
commit ab1bbb9ed8
1 changed files with 11 additions and 17 deletions
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src/drivers/px4fmu/fmu.cpp
+11 -17
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@@ -136,7 +136,6 @@ private:
"ST24" "ST24"
}; };
hrt_abstime _rc_scan_last_lock = 0;
hrt_abstime _rc_scan_begin = 0; hrt_abstime _rc_scan_begin = 0;
bool _rc_scan_locked = false; bool _rc_scan_locked = false;
bool _report_lock = true; bool _report_lock = true;
@@ -930,7 +929,7 @@ PX4FMU::cycle()
sbus_config(_rcs_fd, false); sbus_config(_rcs_fd, false);
rc_io_invert(true); 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) { || now - _rc_scan_begin < rc_scan_max) {
// parse new data // parse new data
@@ -942,12 +941,11 @@ PX4FMU::cycle()
// we have a new SBUS frame. Publish it. // we have a new SBUS frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now, fill_rc_in(raw_rc_count, raw_rc_values, now,
sbus_frame_drop, sbus_failsafe, frame_drops); 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 // Scan the next protocol
set_rc_scan_state(RC_SCAN_DSM); set_rc_scan_state(RC_SCAN_DSM);
} }
@@ -961,7 +959,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); 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) { || now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) { if (newBytes > 0) {
@@ -973,12 +971,11 @@ PX4FMU::cycle()
// we have a new DSM frame. Publish it. // we have a new DSM frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now, fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops); false, false, 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 // Scan the next protocol
set_rc_scan_state(RC_SCAN_ST24); set_rc_scan_state(RC_SCAN_ST24);
} }
@@ -992,7 +989,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); 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) { || now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) { if (newBytes > 0) {
@@ -1012,12 +1009,11 @@ PX4FMU::cycle()
// we have a new ST24 frame. Publish it. // we have a new ST24 frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now, fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops, st24_rssi); false, false, frame_drops, st24_rssi);
_rc_scan_last_lock = now;
_rc_scan_locked = true; _rc_scan_locked = true;
} }
} }
} else if (!_rc_scan_locked) { } else {
// Scan the next protocol // Scan the next protocol
set_rc_scan_state(RC_SCAN_SUMD); set_rc_scan_state(RC_SCAN_SUMD);
} }
@@ -1031,7 +1027,7 @@ PX4FMU::cycle()
dsm_config(_rcs_fd); dsm_config(_rcs_fd);
rc_io_invert(false); 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) { || now - _rc_scan_begin < rc_scan_max) {
if (newBytes > 0) { if (newBytes > 0) {
@@ -1051,12 +1047,11 @@ PX4FMU::cycle()
// we have a new SUMD frame. Publish it. // we have a new SUMD frame. Publish it.
fill_rc_in(raw_rc_count, raw_rc_values, now, fill_rc_in(raw_rc_count, raw_rc_values, now,
false, false, frame_drops, sumd_rssi); false, false, frame_drops, sumd_rssi);
_rc_scan_last_lock = now;
_rc_scan_locked = true; _rc_scan_locked = true;
} }
} }
} else if (!_rc_scan_locked) { } else {
// Scan the next protocol // Scan the next protocol
set_rc_scan_state(RC_SCAN_SUMD); set_rc_scan_state(RC_SCAN_SUMD);
} }
@@ -1073,7 +1068,7 @@ PX4FMU::cycle()
stm32_configgpio(GPIO_PPM_IN); stm32_configgpio(GPIO_PPM_IN);
rc_io_invert(false); 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) { || now - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data // see if we have new PPM input data
@@ -1083,11 +1078,10 @@ PX4FMU::cycle()
rc_updated = true; rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, now, fill_rc_in(ppm_decoded_channels, ppm_buffer, now,
false, false, 0); false, false, 0);
_rc_scan_last_lock = now;
_rc_scan_locked = true; _rc_scan_locked = true;
} }
} else if (!_rc_scan_locked) { } else {
// disable CPPM input by mapping it away from the timer capture input // disable CPPM input by mapping it away from the timer capture input
stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK)); stm32_configgpio(GPIO_PPM_IN & ~(GPIO_AF_MASK | GPIO_PUPD_MASK));
// Scan the next protocol // Scan the next protocol