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AP_IOMCU: use more efficient read API for rcin

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Andrew Tridgell 2020-01-29 13:21:03 +11:00 committed by Randy Mackay
parent 07ee3b4c5e
commit 289a0d8694
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_IOMCU/iofirmware/iofirmware.cpp
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@ -301,9 +301,7 @@ void AP_IOMCU_FW::rcin_update()
if (hal.rcin->new_input()) {
rc_input.count = hal.rcin->num_channels();
rc_input.flags_rc_ok = true;
for (uint8_t i = 0; i < IOMCU_MAX_CHANNELS; i++) {
rc_input.pwm[i] = hal.rcin->read(i);
}
hal.rcin->read(rc_input.pwm, IOMCU_MAX_CHANNELS);
rc_last_input_ms = last_ms;
rc_input.rc_protocol = (uint16_t)AP::RC().protocol_detected();
} else if (last_ms - rc_last_input_ms > 200U) {
@ -315,6 +313,7 @@ void AP_IOMCU_FW::rcin_update()
}
if (update_default_rate) {
hal.rcout->set_default_rate(reg_setup.pwm_defaultrate);
update_default_rate = false;
}
bool old_override = override_active;