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AP_RCProtocol: fixed DSM parser for 8 channels

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this ensures we remember channels from the previous frame, avoiding a
bug with more than 7 channels
This commit is contained in:
Andrew Tridgell 2018-11-15 17:17:34 +11:00
parent 7c7c5038fe
commit 0669619cea
2 changed files with 8 additions and 6 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol_DSM.cpp
View File

@ -81,11 +81,9 @@ void AP_RCProtocol_DSM::process_pulse(uint32_t width_s0, uint32_t width_s1)
}
bytes[i] = ((v>>1) & 0xFF);
}
uint16_t values[8];
uint16_t num_values=0;
if (dsm_decode(AP_HAL::micros64(), bytes, values, &num_values, 8) &&
num_values >= MIN_RCIN_CHANNELS) {
add_input(num_values, values, false);
if (dsm_decode(AP_HAL::micros64(), bytes, last_values, &num_channels, AP_DSM_MAX_CHANNELS) &&
num_channels >= MIN_RCIN_CHANNELS) {
add_input(num_channels, last_values, false);
}
}
memset(&dsm_state, 0, sizeof(dsm_state));

6
libraries/AP_RCProtocol/AP_RCProtocol_DSM.h
View File

@ -19,6 +19,8 @@
#include "AP_RCProtocol.h"
#define AP_DSM_MAX_CHANNELS 12
class AP_RCProtocol_DSM : public AP_RCProtocol_Backend {
public:
AP_RCProtocol_DSM(AP_RCProtocol &_frontend) : AP_RCProtocol_Backend(_frontend) {}
@ -50,5 +52,7 @@ private:
BIND_STATE4,
} bind_state;
uint32_t bind_last_ms;
uint16_t last_values[AP_DSM_MAX_CHANNELS];
uint16_t num_channels;
};