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

HAL_ChibiOS: switch between IOMCU and RCProt rapidly 

keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
This commit is contained in:
Andrew Tridgell 2022-03-27 17:30:19 +11:00 committed by Randy Mackay
parent 1b13a9d15b
commit f159caa203
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_HAL_ChibiOS/RCInput.cpp
View File

@ -181,7 +181,7 @@ void RCInput::_timer_tick(void)
_rcin_last_iomcu_ms = 0; _rcin_last_iomcu_ms = 0;
} }
if (!have_iocmu_rc && rcprot.new_input()) { if (rcprot.new_input() && !have_iocmu_rc) {
WITH_SEMAPHORE(rcin_mutex); WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = AP_HAL::micros(); _rcin_timestamp_last_signal = AP_HAL::micros();
_num_channels = rcprot.num_channels(); _num_channels = rcprot.num_channels();