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AP_RCProtocol: require 3 good frames for weak CRC protocols

This commit is contained in:
Andrew Tridgell 2018-11-03 09:49:17 +11:00
parent e6cadfa2d9
commit d87bef16a2
2 changed files with 14 additions and 0 deletions
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8
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -64,6 +64,10 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
if (backend[i] != nullptr) {
backend[i]->process_pulse(width_s0, width_s1);
if (backend[i]->new_input()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
continue;
}
_new_input = true;
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
_last_input_ms = now;
@ -95,6 +99,10 @@ void AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
if (backend[i] != nullptr) {
backend[i]->process_byte(byte, baudrate);
if (backend[i]->new_input()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
continue;
}
_new_input = true;
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
_last_input_ms = now;

6
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -50,6 +50,11 @@ public:
_disabled_for_pulses |= (1U<<(uint8_t)protocol);
}
// for protocols without strong CRCs we require 3 good frames to lock on
bool requires_3_frames(enum rcprotocol_t p) {
return (p == DSM || p == SBUS || p == SBUS_NI || p == PPM);
}
enum rcprotocol_t protocol_detected()
{
return _detected_protocol;
@ -72,6 +77,7 @@ private:
bool _new_input = false;
uint32_t _last_input_ms;
bool _valid_serial_prot = false;
uint8_t _good_frames[NONE];
static AP_RCProtocol *instance;
};