HAL_PX4: fixed rcin->valid() for RC override input
This commit is contained in:
parent
06e63d3167
commit
930e79a9e1
@ -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);
|
||||
}
|
||||
}
|
||||
|
||||
|
@ -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__
|
||||
|
Loading…
Reference in New Issue
Block a user