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RCInput: allow ppmsum of less than 8 channels

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This commit is contained in:
Randy Mackay 2013-04-29 14:35:59 +09:00
parent c067fa2660
commit a28c6df611
3 changed files with 9 additions and 2 deletions
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1
libraries/AP_HAL_AVR/RCInput.h
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@ -6,6 +6,7 @@
#include "AP_HAL_AVR_Namespace.h" #include "AP_HAL_AVR_Namespace.h"
#define AVR_RC_INPUT_NUM_CHANNELS 8 #define AVR_RC_INPUT_NUM_CHANNELS 8
#define AVR_RC_INPUT_MIN_CHANNELS 5 // for ppm sum we allow less than 8 channels to make up a valid packet
class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput { class AP_HAL_AVR::APM1RCInput : public AP_HAL::RCInput {
public: public:

5
libraries/AP_HAL_AVR/RCInput_APM1.cpp
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@ -32,7 +32,10 @@ void APM1RCInput::_timer4_capt_cb(void) {
} }
if (pulse_width > 8000) { if (pulse_width > 8000) {
/* sync pulse detected */ // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_valid = channel_ctr;
}
channel_ctr = 0; channel_ctr = 0;
} else { } else {
if (channel_ctr < AVR_RC_INPUT_NUM_CHANNELS) { if (channel_ctr < AVR_RC_INPUT_NUM_CHANNELS) {

5
libraries/AP_HAL_AVR/RCInput_APM2.cpp
View File

@ -32,7 +32,10 @@ void APM2RCInput::_timer5_capt_cb(void) {
} }
if (pulse_width > 8000) { if (pulse_width > 8000) {
/* sync pulse detected */ // sync pulse detected. Pass through values if at least a minimum number of channels received
if( channel_ctr >= AVR_RC_INPUT_MIN_CHANNELS ) {
_valid = channel_ctr;
}
channel_ctr = 0; channel_ctr = 0;
} else { } else {
if (channel_ctr < AVR_RC_INPUT_NUM_CHANNELS) { if (channel_ctr < AVR_RC_INPUT_NUM_CHANNELS) {