dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Fix copyright, do not return junk channel #13 that Spektrum gives us.

This commit is contained in:
Lorenz Meier 2014-02-21 07:50:36 +01:00
parent 2d97dff35c
commit 9828d5ede4
1 changed files with 10 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
src/modules/px4iofirmware/dsm.c
View File

@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (C) 2012 PX4 Development Team. All rights reserved.
* Copyright (c) 2012-2014 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@ -401,6 +401,15 @@ dsm_decode(hrt_abstime frame_time, uint16_t *values, uint16_t *num_values)
values[channel] = value;
}
/*
* Spektrum likes to send junk in higher channel numbers to fill
* their packets. We don't know about a 13 channel model in their TX
* lines, so if we get a channel count of 13, we'll return 12 (the last
* data index that is stable).
*/
if (*num_values == 13)
*num_values = 12;
if (dsm_channel_shift == 11) {
/* Set the 11-bit data indicator */
*num_values |= 0x8000;