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AP_HAL_Linux:RCInput: Minimun input channels defined

This commit is contained in:
hiro2233 2016-07-09 02:23:57 -04:00 committed by Lucas De Marchi
parent 4a6447575c
commit 3ae36c4a6c
1 changed files with 7 additions and 5 deletions
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12
libraries/AP_HAL_Linux/RCInput.cpp
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@ -16,6 +16,8 @@
#include "RCInput.h"
#include "sbus.h"
#define MIN_NUM_CHANNELS 5
extern const AP_HAL::HAL& hal;
using namespace Linux;
@ -102,7 +104,7 @@ void RCInput::_process_ppmsum_pulse(uint16_t width_usec)
if (width_usec >= 2700) {
// a long pulse indicates the end of a frame. Reset the
// channel counter so next pulse is channel 0
if (ppm_state._channel_counter >= 5) {
if (ppm_state._channel_counter >= MIN_NUM_CHANNELS) {
for (uint8_t i=0; i<ppm_state._channel_counter; i++) {
_pwm_values[i] = ppm_state._pulse_capt[i];
}
@ -210,7 +212,7 @@ void RCInput::_process_sbus_pulse(uint16_t width_s0, uint16_t width_s1)
if (sbus_decode(bytes, values, &num_values,
&sbus_failsafe, &sbus_frame_drop,
LINUX_RC_INPUT_NUM_CHANNELS) &&
num_values >= 5) {
num_values >= MIN_NUM_CHANNELS) {
for (i=0; i<num_values; i++) {
_pwm_values[i] = values[i];
}
@ -279,7 +281,7 @@ void RCInput::_process_dsm_pulse(uint16_t width_s0, uint16_t width_s1)
uint16_t values[8];
uint16_t num_values=0;
if (dsm_decode(AP_HAL::micros64(), bytes, values, &num_values, 8) &&
num_values >= 5) {
num_values >= MIN_NUM_CHANNELS) {
for (i=0; i<num_values; i++) {
_pwm_values[i] = values[i];
}
@ -380,7 +382,7 @@ void RCInput::add_dsm_input(const uint8_t *bytes, size_t nbytes)
uint16_t values[16] {};
uint16_t num_values=0;
if (dsm_decode(AP_HAL::micros64(), dsm.frame, values, &num_values, 16) &&
num_values >= 5) {
num_values >= MIN_NUM_CHANNELS) {
for (uint8_t i=0; i<num_values; i++) {
if (values[i] != 0) {
_pwm_values[i] = values[i];
@ -442,7 +444,7 @@ void RCInput::add_sbus_input(const uint8_t *bytes, size_t nbytes)
bool sbus_failsafe;
bool sbus_frame_drop;
if (sbus_decode(sbus.frame, values, &num_values, &sbus_failsafe, &sbus_frame_drop, 16) &&
num_values >= 5) {
num_values >= MIN_NUM_CHANNELS) {
for (uint8_t i=0; i<num_values; i++) {
if (values[i] != 0) {
_pwm_values[i] = values[i];