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S.BUS decoder: Do not report initial sync as dropped frame

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Lorenz Meier
2015-12-05 15:30:23 +01:00
parent 990e8acaea
commit ac3bc34d15
1 changed files with 2 additions and 1 deletions
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src/lib/rc/sbus.c
+2 -1
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@@ -134,6 +134,7 @@ sbus_init(const char *device, bool singlewire)
/* initialise the decoder */ /* initialise the decoder */
partial_frame_count = 0; partial_frame_count = 0;
last_rx_time = hrt_absolute_time(); last_rx_time = hrt_absolute_time();
last_frame_time = last_rx_time;
sbus_frame_drops = 0; sbus_frame_drops = 0;
} }
@@ -226,7 +227,7 @@ sbus_input(int sbus_fd, uint16_t *values, uint16_t *num_values, bool *sbus_fails
} }
} }
if (rc_control_packet) { if (rc_control_packet && last_frame_time > 0) {
/* we should not be reading anything in this state if synced */ /* we should not be reading anything in this state if synced */
sbus_frame_drops++; sbus_frame_drops++;
} }