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rc_update: further tighten timing requirements for valid data 

- any real RC data input will be much faster than 3 Hz, so this is an
easy way to minimize bogus decoded data from propagating
This commit is contained in:
Daniel Agar 2022-03-30 13:00:08 -04:00
parent 98623f69a3
commit 77a37c26bf
2 changed files with 4 additions and 2 deletions
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4
src/modules/rc_update/rc_update.cpp
View File

@ -513,7 +513,7 @@ void RCUpdate::Run()
if (input_source_stable && channel_count_stable && !_rc_signal_lost_hysteresis.get_state()) {
if ((input_rc.timestamp_last_signal > _last_timestamp_signal)
&& (input_rc.timestamp_last_signal - _last_timestamp_signal < 1_s)) {
&& (input_rc.timestamp_last_signal < _last_timestamp_signal + VALID_DATA_MIN_INTERVAL_US)) {
perf_count(_valid_data_interval_perf);
@ -651,7 +651,7 @@ void RCUpdate::UpdateManualSwitches(const hrt_abstime &timestamp_sample)
// last 2 switch updates identical within 1 second (simple protection from bad RC data)
if ((switches == _manual_switches_previous)
&& (switches.timestamp_sample < _manual_switches_previous.timestamp_sample + 1_s)) {
&& (switches.timestamp_sample < _manual_switches_previous.timestamp_sample + VALID_DATA_MIN_INTERVAL_US)) {
const bool switches_changed = (switches != _manual_switches_last_publish);

2
src/modules/rc_update/rc_update.h
View File

@ -92,6 +92,8 @@ public:
private:
static constexpr uint64_t VALID_DATA_MIN_INTERVAL_US{1_s / 3}; // assume valid RC input is at least 3 Hz
void Run() override;
/**