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Failsafe: only read RC on new data

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This commit is contained in:
Andrew Tridgell 2012-08-05 14:46:13 +10:00
parent 9c19ff1a2c
commit 26749a7486
1 changed files with 5 additions and 2 deletions
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7
Tools/Failsafe/Failsafe.pde
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@ -10,6 +10,7 @@ version 2.1 of the License, or (at your option) any later version.
// Libraries // Libraries
#include <FastSerial.h> #include <FastSerial.h>
#include <AP_Common.h> #include <AP_Common.h>
#include <AP_Math.h>
#include <Arduino_Mega_ISR_Registry.h> #include <Arduino_Mega_ISR_Registry.h>
#include <APM_RC.h> // ArduPilot Mega RC Library #include <APM_RC.h> // ArduPilot Mega RC Library
@ -52,8 +53,10 @@ void loop()
uint32_t tnow = millis(); uint32_t tnow = millis();
uint8_t heartbeat_pin = digitalRead(HEARTBEAT_PIN); uint8_t heartbeat_pin = digitalRead(HEARTBEAT_PIN);
// to minimise latency run the main loop at 200Hz // see if we have a new radio frame
delay(5); if (APM_RC.GetState() != 1) {
return;
}
if (heartbeat_pin != last_heartbeat) { if (heartbeat_pin != last_heartbeat) {
last_heartbeat = heartbeat_pin; last_heartbeat = heartbeat_pin;