Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 06:28:27 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_HAL: fixed comment on XPlus channels

Browse Source 
thanks for Francisco for noticing
This commit is contained in:
Andrew Tridgell 2016-10-17 06:49:40 +11:00
parent 10c3d82c67
commit 8f88d7c784
1 changed files with 1 additions and 4 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
libraries/AP_HAL/utility/srxl.cpp
View File

@ -104,7 +104,7 @@ int srxl_decode(uint64_t timestamp_us, uint8_t byte, uint8_t *num_values, uint16
return 2; return 2;
} }
if (c == 12) { 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 // 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]); //printf("c12: 0x%x %02x %02x\n", (unsigned)(b>>9), (unsigned)buffer[0], (unsigned)buffer[1]);
v = (b & 0x1FF) << 2; 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; 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) { if (c < SRXL_MAX_CHANNELS) {
v = (((v - 0x400) * 500) / 876) + 1500; v = (((v - 0x400) * 500) / 876) + 1500;
channels[c] = v; channels[c] = v;