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Requiring at least four channels for a successful PPM frame

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This commit is contained in:
Lorenz Meier 2012-11-14 13:42:16 +01:00
parent c2abe3997c
commit ffac5cba2f
1 changed files with 8 additions and 3 deletions
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11
apps/sensors/sensors.cpp
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@ -870,7 +870,12 @@ Sensors::ppm_poll()
/* we are accepting this message */
_ppm_last_valid = ppm_last_valid_decode;
if (ppm_decoded_channels > 2 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
/*
* relying on two decoded channels is very noise-prone,
* in particular if nothing is connected to the pins.
* requiring a minimum of four channels
*/
if (ppm_decoded_channels > 4 && hrt_absolute_time() - _ppm_last_valid < PPM_INPUT_TIMEOUT_INTERVAL) {
for (int i = 0; i < ppm_decoded_channels; i++) {
raw.values[i] = ppm_buffer[i];
@ -898,8 +903,8 @@ Sensors::ppm_poll()
struct manual_control_setpoint_s manual_control;
/* require at least two chanels to consider the signal valid */
if (rc_input.channel_count < 2)
/* require at least four channels to consider the signal valid */
if (rc_input.channel_count < 4)
return;
unsigned channel_limit = rc_input.channel_count;