diff --git a/libraries/AP_HAL/utility/srxl.cpp b/libraries/AP_HAL/utility/srxl.cpp index b51ba12971..e3780ae6a0 100644 --- a/libraries/AP_HAL/utility/srxl.cpp +++ b/libraries/AP_HAL/utility/srxl.cpp @@ -104,7 +104,7 @@ int srxl_decode(uint64_t timestamp_us, uint8_t byte, uint8_t *num_values, uint16 return 2; } if (c == 12) { - // special handling for channel 12 + // special handling for channel 12, this contains the XPlus channels // see http://www.deviationtx.com/forum/protocol-development/2088-18-channels-for-dsm2-dsmx?start=40 //printf("c12: 0x%x %02x %02x\n", (unsigned)(b>>9), (unsigned)buffer[0], (unsigned)buffer[1]); v = (b & 0x1FF) << 2; @@ -121,9 +121,6 @@ int srxl_decode(uint64_t timestamp_us, uint8_t byte, uint8_t *num_values, uint16 v = 0; } - // if channel number if greater than 16 then it is a X-Plus - // channel. We don't yet know how to decode those. There is some information here: - // but we really need some sample data to confirm if (c < SRXL_MAX_CHANNELS) { v = (((v - 0x400) * 500) / 876) + 1500; channels[c] = v;