Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_RCProtocol: prevent mixing of byte and pulse input

This commit is contained in:
Andrew Tridgell 2018-11-01 14:44:55 +11:00
parent fcc259ae31
commit c767828f11
2 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -40,6 +40,10 @@ void AP_RCProtocol::init()
void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
if (_detected_protocol != AP_RCProtocol::NONE && _detected_with_bytes) {
// we're using byte inputs, discard pulses
return;
}
uint32_t now = AP_HAL::millis();
// first try current protocol
if (_detected_protocol != AP_RCProtocol::NONE && now - _last_input_ms < 200) {
@ -59,6 +63,7 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
_new_input = true;
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
_last_input_ms = AP_HAL::millis();
_detected_with_bytes = false;
}
}
}
@ -66,6 +71,10 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
void AP_RCProtocol::process_byte(uint8_t byte)
{
if (_detected_protocol != AP_RCProtocol::NONE && !_detected_with_bytes) {
// we're using pulse inputs, discard bytes
return;
}
uint32_t now = AP_HAL::millis();
// first try current protocol
if (_detected_protocol != AP_RCProtocol::NONE && now - _last_input_ms < 200) {
@ -85,6 +94,7 @@ void AP_RCProtocol::process_byte(uint8_t byte)
_new_input = true;
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
_last_input_ms = AP_HAL::millis();
_detected_with_bytes = true;
}
}
}

1
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -61,6 +61,7 @@ public:
private:
enum rcprotocol_t _detected_protocol = NONE;
bool _detected_with_bytes;
AP_RCProtocol_Backend *backend[NONE];
bool _new_input = false;
uint32_t _last_input_ms;