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HAL_Linux: fixed SRXL and DSM

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fixed default decoder state and fixed mic-recognition of SRXL as DSM
This commit is contained in:
Andrew Tridgell 2016-10-16 21:31:22 +11:00
parent 03f5fba021
commit 110355f14e
2 changed files with 12 additions and 5 deletions
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15
libraries/AP_HAL_Linux/RCInput.cpp
View File

@ -385,8 +385,14 @@ bool RCInput::add_dsm_input(const uint8_t *bytes, size_t nbytes)
dsm.partial_frame_count = 0; dsm.partial_frame_count = 0;
uint16_t values[16] {}; uint16_t values[16] {};
uint16_t num_values=0; uint16_t num_values=0;
/*
we only accept input when nbytes==0 as dsm is highly
sensitive to framing, and extra bytes may be an
indication this is really SRXL
*/
if (dsm_decode(AP_HAL::micros64(), dsm.frame, values, &num_values, 16) && if (dsm_decode(AP_HAL::micros64(), dsm.frame, values, &num_values, 16) &&
num_values >= MIN_NUM_CHANNELS) { num_values >= MIN_NUM_CHANNELS &&
nbytes == 0) {
for (uint8_t i=0; i<num_values; i++) { for (uint8_t i=0; i<num_values; i++) {
if (values[i] != 0) { if (values[i] != 0) {
_pwm_values[i] = values[i]; _pwm_values[i] = values[i];
@ -486,8 +492,7 @@ bool RCInput::add_srxl_input(const uint8_t *bytes, size_t nbytes)
bool failsafe_state; bool failsafe_state;
while (nbytes > 0) { while (nbytes > 0) {
if (srxl_decode(now, *bytes++, &channel_count, values, LINUX_RC_INPUT_NUM_CHANNELS, &failsafe_state) == 0 && if (srxl_decode(now, *bytes++, &channel_count, values, LINUX_RC_INPUT_NUM_CHANNELS, &failsafe_state) == 0) {
failsafe_state == false) {
if (channel_count > LINUX_RC_INPUT_NUM_CHANNELS) { if (channel_count > LINUX_RC_INPUT_NUM_CHANNELS) {
continue; continue;
} }
@ -495,7 +500,9 @@ bool RCInput::add_srxl_input(const uint8_t *bytes, size_t nbytes)
_pwm_values[i] = values[i]; _pwm_values[i] = values[i];
} }
_num_channels = channel_count; _num_channels = channel_count;
new_rc_input = true; if (failsafe_state == false) {
new_rc_input = true;
}
ret = true; ret = true;
} }
nbytes--; nbytes--;

2
libraries/AP_HAL_Linux/RCInput_115200.h
View File

@ -42,7 +42,7 @@ private:
DECODER_SRXL, DECODER_SRXL,
DECODER_SYNC DECODER_SYNC
}; };
enum Decoders decoder; enum Decoders decoder = DECODER_SYNC;
uint8_t dsm_count; uint8_t dsm_count;
uint8_t st24_count; uint8_t st24_count;