Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-21 23:33:57 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL_AVR: accept a much shorted sync pulse width on RCInput

Browse Source 
this should fix issues with OpenLRSng default settings
This commit is contained in:
Andrew Tridgell 2015-02-08 17:09:17 +11:00
parent f2a919c55e
commit 7fb114752c
3 changed files with 10 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_HAL_AVR/RCInput.h
View File

@ -8,6 +8,14 @@
#define AVR_RC_INPUT_NUM_CHANNELS 11 #define AVR_RC_INPUT_NUM_CHANNELS 11
#define AVR_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet #define AVR_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
/*
mininum pulse width in microseconds to signal end of a PPM-SUM
frame. This value is chosen to be smaller than the default 3000 sync
pulse width for OpenLRSng. Note that this is the total pulse with
(typically 300us low followed by a long high pulse)
*/
#define AVR_RC_INPUT_MIN_SYNC_PULSE_WIDTH 2700
class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput { class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput {
public: public:
/** /**

2
libraries/AP_HAL_AVR/RCInput_APM1.cpp
View File

@ -32,7 +32,7 @@ void APM1RCInput::_timer4_capt_cb(void) {
pulse_width = icr4_current - icr4_prev; pulse_width = icr4_current - icr4_prev;
} }
if (pulse_width > 8000) { if (pulse_width > AVR_RC_INPUT_MIN_SYNC_PULSE_WIDTH*2) {
// sync pulse detected. Pass through values if at least a minimum number of channels received // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) { if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_num_channels = channel_ctr; _num_channels = channel_ctr;

2
libraries/AP_HAL_AVR/RCInput_APM2.cpp
View File

@ -32,7 +32,7 @@ void APM2RCInput::_timer5_capt_cb(void) {
pulse_width = icr5_current - icr5_prev; pulse_width = icr5_current - icr5_prev;
} }
if (pulse_width > 8000) { if (pulse_width > AVR_RC_INPUT_MIN_SYNC_PULSE_WIDTH*2) {
// sync pulse detected. Pass through values if at least a minimum number of channels received // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) { if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_num_channels = channel_ctr; _num_channels = channel_ctr;