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fix sbus for pixracer beta

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This commit is contained in:
Mark Whitehorn
2016-01-14 17:55:52 +01:00
committed by Lorenz Meier
parent 05b23a8b54
commit af42f454f7
2 changed files with 13 additions and 17 deletions
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src/drivers/px4fmu/fmu.cpp
+9 -16
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@@ -631,19 +631,9 @@ PX4FMU::cycle()
update_pwm_rev_mask();
#ifdef SBUS_SERIAL_PORT
_sbus_fd = sbus_init(SBUS_SERIAL_PORT, false);
#endif
#ifdef DSM_SERIAL_PORT
// XXX rather than opening it we need to cycle between protocols until one is locked in
//_dsm_fd = dsm_init(DSM_SERIAL_PORT);
#endif
_initialized = true;
}
if (_groups_subscribed != _groups_required) {
subscribe();
_groups_subscribed = _groups_required;
@@ -811,15 +801,18 @@ PX4FMU::cycle()
bool rc_updated = false;
#ifdef SBUS_SERIAL_PORT
#ifdef RC_SERIAL_PORT
bool sbus_failsafe, sbus_frame_drop;
uint16_t raw_rc_values[input_rc_s::RC_INPUT_MAX_CHANNELS];
uint16_t raw_rc_count;
bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count, &sbus_failsafe, &sbus_frame_drop,
// read port
bool sbus_updated = sbus_input(_sbus_fd, &raw_rc_values[0], &raw_rc_count,
&sbus_failsafe, &sbus_frame_drop,
input_rc_s::RC_INPUT_MAX_CHANNELS);
if (sbus_updated) {
// we have a new PPM frame. Publish it.
// we have a new SBUS frame. Publish it.
_rc_in.channel_count = raw_rc_count;
if (_rc_in.channel_count > input_rc_s::RC_INPUT_MAX_CHANNELS) {
@@ -848,8 +841,8 @@ PX4FMU::cycle()
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) &&
ppm_decoded_channels > 3) {
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
&& ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
_rc_in.channel_count = ppm_decoded_channels;
@@ -2224,7 +2217,7 @@ fmu_main(int argc, char *argv[])
}
if (!strcmp(verb, "info")) {
#ifdef SBUS_SERIAL_PORT
#ifdef RC_SERIAL_PORT
warnx("frame drops: %u", sbus_dropped_frames());
#endif
return 0;