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AP_RCProtocol: only update rc value for GHST on rc frames

This commit is contained in:
Andy Piper 2024-09-11 18:51:39 +01:00 committed by Randy Mackay
parent cceec91c7c
commit 129ca14ee3
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
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@ -280,6 +280,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
const RadioFrame* radio_frame = (const RadioFrame*)(&_frame.payload);
const Channels12Bit_4Chan* channels = &(radio_frame->channels);
const uint8_t* lowres_channels = radio_frame->lowres_channels;
bool rc_frame = false;
// Scaling from Betaflight
// Scaling 12bit channels (8bit channels in brackets)
@ -328,6 +329,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[1]);
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[2]);
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[3]);
rc_frame = true;
break;
}
case GHST_UL_RC_CHANS_HS4_12_5TO8:
@ -338,6 +340,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[1]);
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[2]);
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[3]);
rc_frame = true;
break;
}
case GHST_UL_RC_CHANS_RSSI:
@ -355,7 +358,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
}
#endif
return true;
return rc_frame;
}
// send out telemetry