From 091fca701e964de228ea077e11053119104d94fc Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Sat, 9 Apr 2022 14:28:16 -0400 Subject: [PATCH] px4io: input_rc only publish new successful decodes - previously an invalid decode would continue to be transferred to the FMU (at 50 Hz) and published to the rest of the system as successfully decoded new RC data - by only publishing new successful decodes we can more effectively discard invalid data in downstream consumers --- .../extras/cubepilot_io-v2_default.bin | Bin 39456 -> 39492 bytes .../extras/cubepilot_io-v2_default.bin | Bin 39456 -> 39492 bytes .../durandal-v1/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../pix32v5/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../mro/x21-777/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../px4/fmu-v2/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../px4/fmu-v3/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../fmu-v4pro/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../px4/fmu-v5/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../px4/fmu-v5x/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes .../px4/fmu-v6x/extras/px4_io-v2_default.bin | Bin 39456 -> 39492 bytes src/drivers/px4io/px4io.cpp | 13 +++++++++++-- src/modules/px4iofirmware/controls.c | 2 ++ 13 files changed, 13 insertions(+), 2 deletions(-) diff --git a/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin b/boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin index 0179a993e62b05e6a1b9749cd20c99b5318d1afa..1767f928576956d236eae16b93deb332b606127a 100755 GIT binary patch delta 8622 zcmYj133wF6(%rMO$>t)PgJg5h?&jDWkPQhC<;cn8*g!xK!2_4mMG*oBKO&k9;RvG7 zqXCh_$N2=oA3}%{VA=fYd)~?+{s{654`czwHwnkg9y9Y-Z{R)ieYI6xU42zoS6B69 z+hOLj!^}ZD4p|kz!qfnnh10c%-$%OFJJ#TjG43W6nlkup(G=qDj&{v3P5iv02$goO zoD)))$FG+h2n(}(heErVsFRzJ?jpc-fIH;dFqv^mns?l{Kfsx{^I#)&~;_zPDo*eAAjzvPRLTaOj194g* 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100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -202,6 +202,8 @@ private: hrt_abstime _last_status_publish{0}; + uint16_t _rc_valid_update_count{0}; + bool _param_update_force{true}; ///< force a parameter update bool _timer_rates_configured{false}; @@ -1198,6 +1200,14 @@ int PX4IO::io_get_status() int PX4IO::io_publish_raw_rc() { + const uint16_t rc_valid_update_count = io_reg_get(PX4IO_PAGE_RAW_RC_INPUT, PX4IO_P_RAW_FRAME_COUNT); + const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count); + _rc_valid_update_count = rc_valid_update_count; + + if (!rc_updated) { + return 0; + } + input_rc_s input_rc{}; input_rc.timestamp_last_signal = hrt_absolute_time(); @@ -1306,8 +1316,7 @@ int PX4IO::io_publish_raw_rc() input_rc.input_source = input_rc_s::RC_INPUT_SOURCE_PX4IO_ST24; } - if ((input_rc.channel_count > 0) && !input_rc.rc_lost && !input_rc.rc_failsafe - && (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN)) { + if (input_rc.input_source != input_rc_s::RC_INPUT_SOURCE_UNKNOWN) { _to_input_rc.publish(input_rc); } diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 7d22df983c..803fbe6e6c 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -369,6 +369,8 @@ controls_tick() } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_MAPPING_OK); } + + r_page_raw_rc_input[PX4IO_P_RAW_FRAME_COUNT]++; } /*