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HAL_PX4: support PPM RC Input

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HIL flying now works properly
This commit is contained in:
Andrew Tridgell 2013-01-04 08:31:23 +11:00
parent e729a8b277
commit 1fc95a2d45
2 changed files with 16 additions and 12 deletions
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25
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -2,30 +2,37 @@
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4
#include "RCInput.h"
#include <drivers/drv_hrt.h>
using namespace PX4;
extern const AP_HAL::HAL& hal;
extern uint16_t ppm_buffer[];
extern unsigned ppm_decoded_channels;
extern uint64_t ppm_last_valid_decode;
PX4RCInput::PX4RCInput()
{}
void PX4RCInput::init(void* machtnichts)
{
for (uint8_t i=0; i<PX4_NUM_RCINPUT_CHANNELS; i++) {
_override[i] = 1500;
}
// lower throttle
_override[2] = 1000;
clear_overrides();
}
uint8_t PX4RCInput::valid() {
return hal.scheduler->millis() - _last_read > 20;
return ppm_last_valid_decode != _last_read;
}
uint16_t PX4RCInput::read(uint8_t ch) {
_last_read = hal.scheduler->millis();
return _override[ch];
_last_read = ppm_last_valid_decode;
if (ch >= PX4_NUM_RCINPUT_CHANNELS) {
return 0;
}
if (_override[ch]) {
return _override[ch];
}
return ppm_buffer[ch];
}
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) {
@ -61,11 +68,9 @@ bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
void PX4RCInput::clear_overrides()
{
#if 0
for (uint8_t i = 0; i < PX4_NUM_RCINPUT_CHANNELS; i++) {
_override[i] = 0;
}
#endif
}
#endif

3
libraries/AP_HAL_PX4/RCInput.h
View File

@ -21,8 +21,7 @@ public:
private:
/* override state */
uint16_t _override[PX4_NUM_RCINPUT_CHANNELS];
bool _pwm_valid;
uint32_t _last_read;
uint64_t _last_read;
};
#endif // __AP_HAL_PX4_RCINPUT_H__