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AP_RCProtocol: fixed the "3 good frames" test

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require 3 consecutive good frames, not 3 frames total, to declare the
weak protocols as detected
This commit is contained in:
Andrew Tridgell 2020-08-13 17:24:01 +10:00
parent 380e9d3075
commit 2779b26e6e
2 changed files with 20 additions and 14 deletions
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33
libraries/AP_RCProtocol/AP_RCProtocol.cpp
View File

@ -99,17 +99,21 @@ void AP_RCProtocol::process_pulse(uint32_t width_s0, uint32_t width_s1)
if (!protocol_enabled(rcprotocol_t(i))) {
continue;
}
uint32_t frame_count = backend[i]->get_rc_frame_count();
uint32_t input_count = backend[i]->get_rc_input_count();
const uint32_t frame_count = backend[i]->get_rc_frame_count();
const uint32_t input_count = backend[i]->get_rc_input_count();
backend[i]->process_pulse(width_s0, width_s1);
if (frame_count != backend[i]->get_rc_frame_count()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
if (frame_count2 > frame_count) {
if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
continue;
}
_new_input = (input_count != backend[i]->get_rc_input_count());
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
memset(_good_frames, 0, sizeof(_good_frames));
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
if (backend[j]) {
backend[j]->reset_rc_frame_count();
}
}
_last_input_ms = now;
_detected_with_bytes = false;
break;
@ -175,20 +179,23 @@ bool AP_RCProtocol::process_byte(uint8_t byte, uint32_t baudrate)
if (!protocol_enabled(rcprotocol_t(i))) {
continue;
}
uint32_t frame_count = backend[i]->get_rc_frame_count();
uint32_t input_count = backend[i]->get_rc_input_count();
const uint32_t frame_count = backend[i]->get_rc_frame_count();
const uint32_t input_count = backend[i]->get_rc_input_count();
backend[i]->process_byte(byte, baudrate);
if (frame_count != backend[i]->get_rc_frame_count()) {
_good_frames[i]++;
if (requires_3_frames((rcprotocol_t)i) && _good_frames[i] < 3) {
const uint32_t frame_count2 = backend[i]->get_rc_frame_count();
if (frame_count2 > frame_count) {
if (requires_3_frames((rcprotocol_t)i) && frame_count2 < 3) {
continue;
}
_new_input = (input_count != backend[i]->get_rc_input_count());
_detected_protocol = (enum AP_RCProtocol::rcprotocol_t)i;
memset(_good_frames, 0, sizeof(_good_frames));
_last_input_ms = now;
_detected_with_bytes = true;
for (uint8_t j = 0; j < AP_RCProtocol::NONE; j++) {
if (backend[j]) {
backend[j]->reset_rc_frame_count();
}
}
// stop decoding pulses to save CPU
hal.rcin->pulse_input_enable(false);
break;

1
libraries/AP_RCProtocol/AP_RCProtocol.h
View File

@ -103,7 +103,6 @@ private:
bool _new_input;
uint32_t _last_input_ms;
bool _valid_serial_prot;
uint8_t _good_frames[NONE];
enum config_phase {
CONFIG_115200_8N1 = 0,