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HAL_PX4: fixed rcin->valid() for RC override input

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This commit is contained in:
Andrew Tridgell 2013-01-23 07:57:59 +11:00
parent 06e63d3167
commit 930e79a9e1
2 changed files with 19 additions and 11 deletions
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29
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -17,12 +17,15 @@ void PX4RCInput::init(void* unused)
clear_overrides();
}
uint8_t PX4RCInput::valid() {
return ppm_last_valid_decode != _last_read;
uint8_t PX4RCInput::valid()
{
return ppm_last_valid_decode != _last_read || _override_valid;
}
uint16_t PX4RCInput::read(uint8_t ch) {
uint16_t PX4RCInput::read(uint8_t ch)
{
_last_read = ppm_last_valid_decode;
_override_valid = false;
if (ch >= PX4_NUM_RCINPUT_CHANNELS) {
return 0;
}
@ -32,7 +35,8 @@ uint16_t PX4RCInput::read(uint8_t ch) {
return ppm_buffer[ch];
}
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) {
uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len)
{
if (len > PX4_NUM_RCINPUT_CHANNELS) {
len = PX4_NUM_RCINPUT_CHANNELS;
}
@ -42,7 +46,8 @@ uint8_t PX4RCInput::read(uint16_t* periods, uint8_t len) {
return len;
}
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len) {
bool PX4RCInput::set_overrides(int16_t *overrides, uint8_t len)
{
bool res = false;
for (uint8_t i = 0; i < len; i++) {
res |= set_override(i, overrides[i]);
@ -54,11 +59,13 @@ bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
if (override < 0) {
return false; /* -1: no change. */
}
if (channel < PX4_NUM_RCINPUT_CHANNELS) {
_override[channel] = override;
if (override != 0) {
return true;
}
if (channel >= PX4_NUM_RCINPUT_CHANNELS) {
return false;
}
_override[channel] = override;
if (override != 0) {
_override_valid = true;
return true;
}
return false;
}
@ -66,7 +73,7 @@ bool PX4RCInput::set_override(uint8_t channel, int16_t override) {
void PX4RCInput::clear_overrides()
{
for (uint8_t i = 0; i < PX4_NUM_RCINPUT_CHANNELS; i++) {
_override[i] = 0;
set_override(i, 0);
}
}

1
libraries/AP_HAL_PX4/RCInput.h
View File

@ -21,6 +21,7 @@ private:
/* override state */
uint16_t _override[PX4_NUM_RCINPUT_CHANNELS];
uint64_t _last_read;
bool _override_valid;
};
#endif // __AP_HAL_PX4_RCINPUT_H__