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ArduPPM V2.2.68 - Fixed possible logic flaw in throttle failsafe reset if _JITTER_FILTER_ is enabled

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This commit is contained in:
John Arne Birkeland 2012-06-04 22:55:15 +02:00
parent df17ff3bc1
commit f4a4982328
1 changed files with 7 additions and 4 deletions
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11
Tools/ArduPPM/Libraries/PPM_Encoder.h
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@ -1,5 +1,5 @@
// ------------------------------------------------------------- // -------------------------------------------------------------
// PPM ENCODER V2.2.67 (03-06-2012) // PPM ENCODER V2.2.68 (04-06-2012)
// ------------------------------------------------------------- // -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p), // Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2 (ATmega32u2) // PhoneDrone and APM2 (ATmega32u2)
@ -57,6 +57,9 @@
// 03-06-2012 // 03-06-2012
// V2.2.67 - Implemented detection and failsafe (throttle = 900us) for missing throttle signal. // V2.2.67 - Implemented detection and failsafe (throttle = 900us) for missing throttle signal.
// 04-06-2012
// V2.2.68 - Fixed possible logic flaw in throttle failsafe reset if _JITTER_FILTER_ is enabled
// ------------------------------------------------------------- // -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_ #ifndef _PPM_ENCODER_H_
@ -537,6 +540,9 @@ CHECK_PINS_LOOP: // Input servo pin check loop
// Calculate servo channel position in ppm[..] // Calculate servo channel position in ppm[..]
uint8_t _ppm_channel = ( servo_channel << 1 ) + 1; uint8_t _ppm_channel = ( servo_channel << 1 ) + 1;
//Reset throttle failsafe timeout
if( _ppm_channel == 5 ) throttle_timeout = 0;
#ifdef _AVERAGE_FILTER_ #ifdef _AVERAGE_FILTER_
// Average filter to smooth input jitter // Average filter to smooth input jitter
servo_width += ppm[ _ppm_channel ]; servo_width += ppm[ _ppm_channel ];
@ -552,9 +558,6 @@ CHECK_PINS_LOOP: // Input servo pin check loop
// Update ppm[..] // Update ppm[..]
ppm[ _ppm_channel ] = servo_width; ppm[ _ppm_channel ] = servo_width;
//Reset throttle failsafe timeout
if( _ppm_channel == 5 ) throttle_timeout = 0;
} }
} }