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Rover: fix for X8R receiver on SBUS in failsafe

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the X8R briefly gives PWM of 874 on all channels when the receiver is
setup as "no pulses" failsafe handling. This was interpreted as switch
position 0, which was AUTO for me.

This change rejects pulse widths below 900 for mode changes
This commit is contained in:
Andrew Tridgell 2014-03-08 17:12:06 +11:00
parent 8574303a94
commit 148fd889bc
1 changed files with 6 additions and 1 deletions
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7
APMrover2/control_modes.pde
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@ -9,6 +9,11 @@ static void read_control_switch()
// If we get this value we do not want to change modes.
if(switchPosition == 255) return;
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 100) {
// only use signals that are less than 0.1s old.
return;
}
// we look for changes in the switch position. If the
// RST_SWITCH_CH parameter is set, then it is a switch that can be
// used to force re-reading of the control switch. This is useful
@ -32,7 +37,7 @@ static void read_control_switch()
static uint8_t readSwitch(void){
uint16_t pulsewidth = hal.rcin->read(g.mode_channel - 1);
if (pulsewidth <= 800 || pulsewidth >= 2200) return 255; // This is an error condition
if (pulsewidth <= 900 || pulsewidth >= 2200) return 255; // This is an error condition
if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;