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HAL_ChibiOS: switch between IOMCU and RCProt rapidly 

keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
This commit is contained in:
Andrew Tridgell 2022-03-27 17:30:19 +11:00
parent 9ba73d362d
commit 0ae1ac182a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_HAL_ChibiOS/RCInput.cpp
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@ -181,7 +181,7 @@ void RCInput::_timer_tick(void)
_rcin_last_iomcu_ms = 0; _rcin_last_iomcu_ms = 0;
} }
if (!have_iocmu_rc && rcprot.new_input()) { if (rcprot.new_input() && !have_iocmu_rc) {
WITH_SEMAPHORE(rcin_mutex); WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = rcprot.num_channels(); _num_channels = rcprot.num_channels();