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Merge pull request #684 from PX4/dsm_fix

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Dsm support for DX10t
This commit is contained in:
Lorenz Meier 2014-02-21 08:12:04 +01:00
commit cfb4f76bad
1 changed files with 11 additions and 1 deletions
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12
src/modules/px4iofirmware/dsm.c
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@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -162,6 +162,7 @@ dsm_guess_format(bool reset)
0xff, /* 8 channels (DX8) */
0x1ff, /* 9 channels (DX9, etc.) */
0x3ff, /* 10 channels (DX10) */
0x1fff, /* 13 channels (DX10t) */
0x3fff /* 18 channels (DX10) */
};
unsigned votes10 = 0;
@ -400,6 +401,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
values[channel] = value;
}
/*
* Spektrum likes to send junk in higher channel numbers to fill
* their packets. We don't know about a 13 channel model in their TX
* lines, so if we get a channel count of 13, we'll return 12 (the last
* data index that is stable).
*/
if (*num_values == 13)
*num_values = 12;
if (dsm_channel_shift == 11) {
/* Set the 11-bit data indicator */
*num_values |= 0x8000;