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AP_IOMCU: fixed bug in SBUS output when scanning for FPort input 

when we are looking for FPort input, we normally switch UART3 on the
IOMCU to 115200 to look for inverted inputs at 115200 baudrate. We
need to disable this switching when we have SBUS output enabled to
prevent a change in the SBUS output baudrate

Many thanks to afishman for finding this bug

Fixes #15522
This commit is contained in:
Andrew Tridgell 2020-10-07 14:59:42 +11:00
parent 82cf755115
commit ba8fb3230b
1 changed files with 9 additions and 2 deletions
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11
libraries/AP_IOMCU/iofirmware/rc.cpp
View File

@ -127,13 +127,20 @@ void AP_IOMCU_FW::rcin_serial_update(void)
}
}
}
if (now - rc_stats.last_good_ms > 2000) {
/*
when not using SBUS output we switch UART3 between 100000 baud
and 115200 baud in order to support RC input protocols that are
115200 inverted (such as FPort). If SBUS output is enabled then
we need to disable this as the uart is shared between input and
output
*/
const bool sbus_out_enabled = (reg_setup.features & P_SETUP_FEATURES_SBUS1_OUT) != 0;
if (now - rc_stats.last_good_ms > 2000 && (sd3_config==1 || !sbus_out_enabled)) {
rc_stats.last_good_ms = now;
sd3_config ^= 1;
sdStop(&SD3);
sdStart(&SD3, sd3_config==0?&sbus_cfg:&dsm_cfg);
}
}
/*