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HAL_ChibiOS: use separate parameter for detect timeout

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This commit is contained in:
bugobliterator 2018-01-19 01:29:03 +05:30 committed by Andrew Tridgell
parent 613d7a47ba
commit 7db19cfae0
2 changed files with 4 additions and 3 deletions
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6
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -38,7 +38,7 @@ void RCInput::init()
chMtxObjectInit(&rcin_mutex);
_init = true;
//timeout starts from the initialisation
_rcin_timestamp_last_signal = AP_HAL::micros();
_rcin_detect_timeout = AP_HAL::micros();
}
bool RCInput::new_input()
@ -187,8 +187,8 @@ void RCInput::_timer_tick(void)
chMtxUnlock(&rcin_mutex);
}
//we reset if nothing detected for SIG_DETECT_TIMEOUT_US
if (AP_HAL::micros() - _rcin_timestamp_last_signal > SIG_DETECT_TIMEOUT_US) {
_rcin_timestamp_last_signal = AP_HAL::micros();
if (AP_HAL::micros() - _rcin_detect_timeout > SIG_DETECT_TIMEOUT_US) {
_rcin_detect_timeout = AP_HAL::micros();
sig_reader.invert();
}
#endif

1
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -62,6 +62,7 @@ private:
mutex_t rcin_mutex;
int16_t _rssi = -1;
uint32_t _rcin_timestamp_last_signal;
uint32_t _rcin_detect_timeout;
bool _init;
#ifdef HAL_RCINPUT_WITH_AP_RADIO
bool _radio_init;