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st24: fix RC lost detection based on error count

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The packet_count was actually an error_count, therefore we should
process RC input only when the error_count since the last packet is 0.

Also, this commit fixes the RSSI scaling for st24.
This commit is contained in:
Julian Oes
2016-10-19 09:22:57 +02:00
committed by Lorenz Meier
parent ffaed18e67
commit af5d2c488c
4 changed files with 20 additions and 16 deletions
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src/drivers/px4fmu/fmu.cpp
+6 -3
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@@ -1358,18 +1358,21 @@ PX4FMU::cycle()
if (newBytes > 0) {
// parse new data
uint8_t st24_rssi, rx_count;
uint8_t st24_rssi, lost_count;
rc_updated = false;
for (unsigned i = 0; i < (unsigned)newBytes; i++) {
/* set updated flag if one complete packet was parsed */
st24_rssi = RC_INPUT_RSSI_MAX;
rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &rx_count,
rc_updated = (OK == st24_decode(_rcs_buf[i], &st24_rssi, &lost_count,
&raw_rc_count, raw_rc_values, input_rc_s::RC_INPUT_MAX_CHANNELS));
}
if (rc_updated) {
// The st24 will keep outputting RC channels and RSSI even if RC has been lost.
// The only way to detect RC loss is therefore to look at the lost_count.
if (rc_updated && lost_count == 0) {
// we have a new ST24 frame. Publish it.
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_ST24;
fill_rc_in(raw_rc_count, raw_rc_values, _cycle_timestamp,