fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-07-04 05:40:37 +08:00
Code Issues Packages Projects Releases Wiki Activity

Added PPM frame length feedback in IO comms and status command - allows to warn users about badly formatted PPM frames

Browse Source
This commit is contained in:
Lorenz Meier
2013-12-25 15:11:48 +01:00
parent a502332992
commit edffade8ce
4 changed files with 23 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/px4io/px4io.cpp
+10
View File
@@ -1724,6 +1724,16 @@ PX4IO::print_status()
printf(" %u", io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_RC_BASE + i));
printf("\n");
if (raw_inputs > 0) {
int frame_len = io_reg_get(PX4IO_PAGE_STATUS, PX4IO_P_STATUS_RC_DATA);
printf("RC data (PPM frame len) %u us\n", frame_len);
if ((frame_len - raw_inputs * 2000 - 3000) < 0) {
printf("WARNING WARNING WARNING! This RC receiver does not allow safe frame detection.\n");
}
}
uint16_t mapped_inputs = io_reg_get(PX4IO_PAGE_RC_INPUT, PX4IO_P_RC_VALID);
printf("mapped R/C inputs 0x%04x", mapped_inputs);