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PX4IO: Use DSM frame drops 

These will now be reported the same as on SBUS.
This commit is contained in:
Lorenz Meier 2021-01-01 13:57:56 +01:00
parent 47fcf97442
commit 8d6239f11f
1 changed files with 11 additions and 2 deletions
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13
src/modules/px4iofirmware/controls.c
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@ -80,6 +80,7 @@ static unsigned _rssi_adc_counts = 0;
/* receive signal strenght indicator (RSSI). 0 = no connection, 100 (RC_INPUT_RSSI_MAX): perfect connection */
/* Note: this is static because RC-provided telemetry does not occur every tick */
static uint16_t _rssi = 0;
static unsigned _frame_drops = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{
@ -90,8 +91,9 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
uint8_t *bytes;
bool dsm_11_bit;
int8_t spektrum_rssi;
unsigned frame_drops;
*dsm_updated = dsm_input(_dsm_fd, r_raw_rc_values, &r_raw_rc_count, &dsm_11_bit, &n_bytes, &bytes,
&spektrum_rssi, PX4IO_RC_INPUT_CHANNELS);
&spektrum_rssi, &frame_drops, PX4IO_RC_INPUT_CHANNELS);
if (*dsm_updated) {
@ -102,7 +104,14 @@ bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool
r_raw_rc_flags &= ~PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
}
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
if (frame_drops == _frame_drops) {
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
} else {
r_raw_rc_flags |= (PX4IO_P_RAW_RC_FLAGS_FRAME_DROP);
}
_frame_drops = frame_drops;
r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE);
if (spektrum_rssi >= 0 && spektrum_rssi <= 100) {