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handle PPM input with RC_SERIAL_PORT undefined

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Mark Whitehorn 2016-01-10 11:41:53 -07:00 committed by Lorenz Meier
parent 72156d9cd6
commit ca2e9e7be1
1 changed files with 24 additions and 3 deletions
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27
src/drivers/px4fmu/fmu.cpp
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@ -939,7 +939,7 @@ PX4FMU::cycle()
// This triggers the port re-configuration
rc_scan_begin = 0;
// Scan the next protocol
rc_scan_state = RC_SCAN_PPM;
rc_scan_state = RC_SCAN_ST24;
}
break;
@ -980,15 +980,18 @@ PX4FMU::cycle()
// This triggers the port re-configuration
rc_scan_begin = 0;
// Scan the next protocol
rc_scan_state = RC_SCAN_PPM;
rc_scan_state = RC_SCAN_SUMD;
}
break;
case RC_SCAN_SUMD:
rc_scan_state = RC_SCAN_PPM;
break;
case RC_SCAN_PPM:
// skip PPM if it's not supported
#ifdef HRT_PPM_CHANNEL
if (rc_scan_begin == 0) {
rc_scan_begin = now;
// Configure timer input pin for CPPM
@ -1017,10 +1020,28 @@ PX4FMU::cycle()
rc_scan_state = RC_SCAN_SBUS;
}
#else // skip PPM if it's not supported
rc_scan_state = RC_SCAN_SBUS;
#endif // HRT_PPM_CHANNEL
break;
}
#endif
#else // RC_SERIAL_PORT not defined
#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) {
// we have a new PPM frame. Publish it.
rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
false, false, 0);
}
#endif // HRT_PPM_CHANNEL
#endif // RC_SERIAL_PORT
if (rc_updated) {
/* lazily advertise on first publication */