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fmu: fix PPM publication if RC_SERIAL_PORT is not defined

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Before, the RC channel was published as fast as the fmu was running
(around 200Hz in unarmed state).

And fix code style.
This commit is contained in:
Beat Küng
2017-12-22 07:57:08 +01:00
parent dde922a971
commit 5a7885610d
1 changed files with 6 additions and 8 deletions
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14
src/drivers/px4fmu/fmu.cpp
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@@ -1684,12 +1684,10 @@ PX4FMU::cycle()
px4_arch_configgpio(GPIO_PPM_IN);
rc_io_invert(false);
} else if (_rc_scan_locked
|| _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
} else if (_rc_scan_locked || _cycle_timestamp - _rc_scan_begin < rc_scan_max) {
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
&& ppm_decoded_channels > 3) {
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
_rc_in.input_source = input_rc_s::RC_INPUT_SOURCE_PX4FMU_PPM;
@@ -1718,12 +1716,12 @@ PX4FMU::cycle()
#ifdef HRT_PPM_CHANNEL
// see if we have new PPM input data
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal)
&& ppm_decoded_channels > 3) {
if ((ppm_last_valid_decode != _rc_in.timestamp_last_signal) && ppm_decoded_channels > 3) {
// we have a new PPM frame. Publish it.
rc_updated = true;
fill_rc_in(ppm_decoded_channels, ppm_buffer, hrt_absolute_time(),
false, false, 0);
fill_rc_in(ppm_decoded_channels, ppm_buffer, _cycle_timestamp, false, false, 0);
_rc_in.rc_ppm_frame_length = ppm_frame_length;
_rc_in.timestamp_last_signal = ppm_last_valid_decode;
}
#endif // HRT_PPM_CHANNEL