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FMU: Fix rc lost flag handing

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Lorenz Meier
2016-05-01 16:24:33 +02:00
parent bdd2070dd7
commit 34081c1d3c
1 changed files with 4 additions and 1 deletions
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5
src/drivers/px4fmu/fmu.cpp
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@@ -844,6 +844,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
for (unsigned i = 0; i < _rc_in.channel_count; i++) { for (unsigned i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i]; _rc_in.values[i] = raw_rc_values[i];
if (raw_rc_values[i] != UINT16_MAX) { if (raw_rc_values[i] != UINT16_MAX) {
valid_chans++; valid_chans++;
} }
@@ -863,6 +864,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
if (_rc_in.rssi > 100) { if (_rc_in.rssi > 100) {
_rc_in.rssi = 100; _rc_in.rssi = 100;
} }
} else { } else {
_rc_in.rssi = _rc_in.rssi =
(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2); (!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
@@ -877,7 +879,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
} }
_rc_in.rc_failsafe = failsafe; _rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = (valid_chans > 0); _rc_in.rc_lost = (valid_chans == 0);
_rc_in.rc_lost_frame_count = frame_drops; _rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0; _rc_in.rc_total_frame_count = 0;
} }
@@ -1211,6 +1213,7 @@ PX4FMU::cycle()
} }
} }
} }
#endif #endif
bool rc_updated = false; bool rc_updated = false;