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HAL_Linux: fixed transmitter failsafe with SBUS RCInput

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This commit is contained in:
Andrew Tridgell 2016-10-17 06:53:33 +11:00
parent 8f88d7c784
commit 33bff3c79c
1 changed files with 9 additions and 4 deletions
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13
libraries/AP_HAL_Linux/RCInput.cpp
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@ -220,7 +220,9 @@ void RCInput::_process_sbus_pulse(uint16_t width_s0, uint16_t width_s1)
_pwm_values[i] = values[i];
}
_num_channels = num_values;
new_rc_input = true;
if (!sbus_failsafe) {
new_rc_input = true;
}
}
goto reset;
} else if (bits_s1 > 12) {
@ -561,11 +563,14 @@ void RCInput::add_sbus_input(const uint8_t *bytes, size_t nbytes)
if (num_values > _num_channels) {
_num_channels = num_values;
}
new_rc_input = true;
if (!sbus_failsafe) {
new_rc_input = true;
}
#if 0
printf("Decoded SBUS %u channels %u %u %u %u %u %u %u %u\n",
printf("Decoded SBUS %u channels %u %u %u %u %u %u %u %u %s\n",
(unsigned)num_values,
values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7]);
values[0], values[1], values[2], values[3], values[4], values[5], values[6], values[7],
sbus_failsafe?"FAIL":"OK");
#endif
}
}