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ArduPPM: Changed the behaviour of the PPM encoder: if a channel is lost retain its last value instead of a fail-safe value (except for Ch3/throttle)

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Julian Oes 2013-02-26 11:20:26 -08:00 committed by rmackay9
parent bfb29ce22b
commit 8b7c75a700
1 changed files with 30 additions and 13 deletions
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43
Tools/ArduPPM/Libraries/PPM_Encoder.h
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@ -1,5 +1,5 @@
// -------------------------------------------------------------
// ArduPPM (PPM Encoder) V2.3.15
// ArduPPM (PPM Encoder) V2.3.16
// -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2.x (ATmega32u2)
@ -140,6 +140,9 @@
// 13-01-2013
// V2.3.15 - very small bug fix: speedup
// 26-02-2013
// V2.3.16 - when a channel is lost don't set it to a fail-safe value but retain its last value (except throttle)
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
@ -181,7 +184,7 @@
#endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
const char ver[15] = "ArduPPMv2.3.15";
const char ver[15] = "ArduPPMv2.3.16";
// -------------------------------------------------------------
// INPUT MODE
@ -532,10 +535,13 @@ ISR( WDT_vect ) // If watchdog is triggered then enable missing signal flag and
if ( ppm_generator_active || brownout_reset )
{
// Copy failsafe values to ppm[..]
for( uint8_t i = 0; i < PPM_ARRAY_MAX; i++ )
{
ppm[ i ] = failsafe_ppm[ i ];
}
//for( uint8_t i = 0; i < PPM_ARRAY_MAX; i++ )
//{
// ppm[ i ] = failsafe_ppm[ i ];
//}
// Set Throttle Low & leave other channels at last value
ppm[5] = failsafe_ppm[ 5 ];
}
// If we are in PPM passtrough mode and a input signal has been detected, or if chip has been reset from a brown_out then start the PPM generator.
@ -790,11 +796,22 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
// Update timing for next compare toggle with either current ppm input value, or fail-safe value if there is a channel timeout.
if( ppm_timeout[ ppm_out_channel ] > PPM_TIMEOUT_VALUE )
{
// Use ppm fail-safe value
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei();
// Use the ppm fail-safe value for throttle
if (ppm_out_channel == 5)
{
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
// report this to the LED indication
servo_input_missing = true;
sei();
}
else
{
cli();
PPM_COMPARE += ppm[ ppm_out_channel ];
sei();
}
#if defined _THROTTLE_LOW_RECOVERY_POSSIBLE && defined _THROTTLE_LOW_FAILSAFE_INDICATION
// Count the channel that we have lost
disconnected_channels++;
@ -812,7 +829,7 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
// Use latest ppm input value
cli();
PPM_COMPARE += ppm[ ppm_out_channel ];
sei();
sei();
// Increment active channel timeout (reset to zero in input interrupt each time a valid signal is detected)
if( servo_input_connected[ ppm_out_channel ] >= SERVO_INPUT_CONNECTED_VALUE )
@ -825,7 +842,7 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
{
ppm_out_channel = 0;
#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
#ifdef _THROTTLE_LOW_RECOVERY_POSSIBLE
// Did we lose one or more active servo input channel? If so force throttle fail-safe (RTL)
if( disconnected_channels > 0 )
{