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drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively 

- this allows jumping straight to a non-SBUS RC protocol
 - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases.
 - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds
This commit is contained in:
Daniel Agar 2022-05-11 14:30:41 -04:00 committed by GitHub
parent c772e5230f
commit fba7c972d1
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 16 additions and 18 deletions
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33
src/drivers/rc_input/RCInput.cpp
View File

@ -48,12 +48,6 @@ RCInput::RCInput(const char *device) :
_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")), _cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle time")),
_publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval")) _publish_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": publish interval"))
{ {
// rc input, published to ORB
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
// initialize it as RC lost
_rc_in.rc_lost = true;
// initialize raw_rc values and count // initialize raw_rc values and count
for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) { for (unsigned i = 0; i < input_rc_s::RC_INPUT_MAX_CHANNELS; i++) {
_raw_rc_values[i] = UINT16_MAX; _raw_rc_values[i] = UINT16_MAX;
@ -116,6 +110,8 @@ RCInput::init()
px4_arch_unconfiggpio(GPIO_PPM_IN); px4_arch_unconfiggpio(GPIO_PPM_IN);
#endif // GPIO_PPM_IN #endif // GPIO_PPM_IN
rc_io_invert(false);
return 0; return 0;
} }
@ -271,8 +267,6 @@ void RCInput::set_rc_scan_state(RC_SCAN newState)
_rc_scan_begin = 0; _rc_scan_begin = 0;
_rc_scan_locked = false; _rc_scan_locked = false;
_report_lock = true;
} }
void RCInput::rc_io_invert(bool invert) void RCInput::rc_io_invert(bool invert)
@ -417,8 +411,8 @@ void RCInput::Run()
bool rc_updated = false; bool rc_updated = false;
// This block scans for a supported serial RC input and locks onto the first one found // This block scans for a supported serial RC input and locks onto the first one found
// Scan for 300 msec, then switch protocol // Scan for 500 msec, then switch protocol
constexpr hrt_abstime rc_scan_max = 300_ms; constexpr hrt_abstime rc_scan_max = 500_ms;
unsigned frame_drops = 0; unsigned frame_drops = 0;
@ -434,6 +428,8 @@ void RCInput::Run()
_bytes_rx += newBytes; _bytes_rx += newBytes;
} }
const bool rc_scan_locked = _rc_scan_locked;
switch (_rc_scan_state) { switch (_rc_scan_state) {
case RC_SCAN_NONE: case RC_SCAN_NONE:
// do nothing // do nothing
@ -754,15 +750,18 @@ void RCInput::Run()
_rc_scan_locked = false; _rc_scan_locked = false;
} }
if (_report_lock && _rc_scan_locked) { if (!rc_scan_locked && _rc_scan_locked) {
_report_lock = false;
PX4_INFO("RC scan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]); PX4_INFO("RC scan: %s RC input locked", RC_SCAN_STRING[_rc_scan_state]);
}
if (!_armed && (_param_rc_input_proto.get() < 0)) { // set RC_INPUT_PROTO if RC successfully locked for > 3 seconds
// RC_INPUT_PROTO auto => locked selection if (!_armed && rc_updated && _rc_scan_locked
_param_rc_input_proto.set(_rc_scan_state); && ((_rc_scan_begin != 0) && hrt_elapsed_time(&_rc_scan_begin) > 3_s)
_param_rc_input_proto.commit(); && (_param_rc_input_proto.get() < 0)
} ) {
// RC_INPUT_PROTO auto => locked selection
_param_rc_input_proto.set(_rc_scan_state);
_param_rc_input_proto.commit();
} }
} }
} }

1
src/drivers/rc_input/RCInput.hpp
View File

@ -131,7 +131,6 @@ private:
bool _initialized{false}; bool _initialized{false};
bool _rc_scan_locked{false}; bool _rc_scan_locked{false};
bool _report_lock{true};
static constexpr unsigned _current_update_interval{4000}; // 250 Hz static constexpr unsigned _current_update_interval{4000}; // 250 Hz