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AP_RCProtocol: improved reliability of DSM vs SRXL detection

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base detection on framing, not including failsafe
This commit is contained in:
Andrew Tridgell 2018-11-05 17:13:46 +11:00
parent 3d90ddc453
commit 7e8b6709ae
3 changed files with 16 additions and 4 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -63,8 +63,9 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
continue;
}
if (backend[i] != nullptr) {
uint32_t frame_count = backend[i]->get_rc_frame_count();
backend[i]->process_pulse(width_s0, width_s1);
if (backend[i]->new_input()) {
if (frame_count != backend[i]->get_rc_frame_count()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
continue;
@ -74,6 +75,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
memset(_good_frames, 0, sizeof(_good_frames));
_last_input_ms = now;
_detected_with_bytes = false;
break;
}
}
}
@ -123,8 +125,9 @@ void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
// otherwise scan all protocols
for (uint8_t i = 0; i < AP_RCProtocol::NONE; i++) {
if (backend[i] != nullptr) {
uint32_t frame_count = backend[i]->get_rc_frame_count();
backend[i]->process_byte(byte, baudrate);
if (backend[i]->new_input()) {
if (frame_count != backend[i]->get_rc_frame_count()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
continue;
@ -134,6 +137,7 @@ void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
memset(_good_frames, 0, sizeof(_good_frames));
_last_input_ms = now;
_detected_with_bytes = true;
break;
}
}
}

1
libraries/AP_RCProtocol/AP_RCProtocol_Backend.cpp
View File

@ -52,6 +52,7 @@ void AP_RCProtocol_Backend::add_input(uint8_t num_values, uint16_t *values, bool
num_values = MIN(num_values, MAX_RCIN_CHANNELS);
memcpy(_pwm_values, values, num_values*sizeof(uint16_t));
_num_channels = num_values;
rc_frame_count++;
if (!in_failsafe) {
rc_input_count++;
}

11
libraries/AP_RCProtocol/AP_RCProtocol_Backend.h
View File

@ -39,13 +39,20 @@ public:
PARSE_TYPE_SIGREAD,
PARSE_TYPE_SERIAL
};
// get number of frames, ignoring failsafe
uint32_t get_rc_frame_count(void) const {
return rc_frame_count;
}
protected:
void add_input(uint8_t num_channels, uint16_t *values, bool in_failsafe);
private:
AP_RCProtocol &frontend;
unsigned int rc_input_count;
unsigned int last_rc_input_count;
uint32_t rc_input_count;
uint32_t last_rc_input_count;
uint32_t rc_frame_count;
uint16_t _pwm_values[MAX_RCIN_CHANNELS];
uint8_t _num_channels;