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Deal more gracefully with the case where the incoming PPM stream has more than 8 channels encoded.

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This makes it possible to move one resistor on the APM board and feed it PPM directly from a receiver emitting a PPM stream.



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1498 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
DrZiplok 2011-01-15 19:32:04 +00:00
parent dc9c29e8f3
commit 5113a12144
1 changed files with 5 additions and 4 deletions
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3
libraries/APM_RC/APM_RC.cpp
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@ -50,11 +50,12 @@ ISR(TIMER4_CAPT_vect)
PPM_Counter=0; PPM_Counter=0;
else else
{ {
PPM_Counter &= 0x07; // For safety only (limit PPM_Counter to 7) if (PPM_Counter < (sizeof(PWM_RAW) / sizeof(PWM_RAW[0]))) {
PWM_RAW[PPM_Counter++]=Pulse_Width; //Saving pulse. PWM_RAW[PPM_Counter++]=Pulse_Width; //Saving pulse.
if (PPM_Counter >= NUM_CHANNELS) if (PPM_Counter >= NUM_CHANNELS)
radio_status = 1; radio_status = 1;
} }
}
ICR4_old = Pulse; ICR4_old = Pulse;
} }