Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 18:38:28 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_ChibiOS: prevent conflicting RC input

Browse Source 
when we have RC from both IOMCU and from rcprotocol (eg. from
SERIALn_PROTOCOL=23) we need to only process one of them. This
prioritises IOMCU input
This commit is contained in:
Andrew Tridgell 2022-03-17 18:01:03 +11:00
parent 6a769b728e
commit 86899b279f
2 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -175,7 +175,13 @@ void RCInput::_timer_tick(void)
} }
#endif #endif
if (rcprot.new_input()) { uint32_t now = AP_HAL::millis();
const bool have_iocmu_rc = (_rcin_last_iomcu_ms != 0 && now - _rcin_last_iomcu_ms < 400);
if (!have_iocmu_rc) {
_rcin_last_iomcu_ms = 0;
}
if (!have_iocmu_rc && rcprot.new_input()) {
WITH_SEMAPHORE(rcin_mutex); WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = rcprot.num_channels(); _num_channels = rcprot.num_channels();
@ -208,6 +214,7 @@ void RCInput::_timer_tick(void)
if (AP_BoardConfig::io_enabled() && if (AP_BoardConfig::io_enabled() &&
iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) { iomcu.check_rcinput(last_iomcu_us, _num_channels, _rc_values, RC_INPUT_MAX_CHANNELS)) {
_rcin_timestamp_last_signal = last_iomcu_us; _rcin_timestamp_last_signal = last_iomcu_us;
_rcin_last_iomcu_ms = now;
#ifndef HAL_NO_UARTDRIVER #ifndef HAL_NO_UARTDRIVER
rc_protocol = iomcu.get_rc_protocol(); rc_protocol = iomcu.get_rc_protocol();
_rssi = iomcu.get_RSSI(); _rssi = iomcu.get_RSSI();

1
libraries/AP_HAL_ChibiOS/RCInput.h
View File

@ -69,6 +69,7 @@ private:
int16_t _rssi = -1; int16_t _rssi = -1;
int16_t _rx_link_quality = -1; int16_t _rx_link_quality = -1;
uint32_t _rcin_timestamp_last_signal; uint32_t _rcin_timestamp_last_signal;
uint32_t _rcin_last_iomcu_ms;
bool _init; bool _init;
const char *last_protocol; const char *last_protocol;
bool pulse_input_enabled; bool pulse_input_enabled;