Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-02 11:59:17 +08:00
Code Issues Actions 20 Packages Projects Releases Wiki Activity

IO: Cleanup DSM input routine

Browse Source
This commit is contained in:
Lorenz Meier
2015-12-14 13:09:15 +00:00
parent 1871a61676
commit 7005b18a66
1 changed files with 5 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/px4iofirmware/controls.c
+5 -6
View File
@@ -73,16 +73,15 @@ static unsigned _rssi_adc_counts = 0;
bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated) bool dsm_port_input(uint16_t *rssi, bool *dsm_updated, bool *st24_updated, bool *sumd_updated)
{ {
perf_begin(c_gather_dsm); perf_begin(c_gather_dsm);
uint16_t temp_count = r_raw_rc_count;
uint8_t n_bytes = 0; uint8_t n_bytes = 0;
uint8_t *bytes; uint8_t *bytes;
*dsm_updated = dsm_input(r_raw_rc_values, &temp_count, &n_bytes, &bytes, PX4IO_RC_INPUT_CHANNELS); bool dsm_11_bit;
*dsm_updated = dsm_input(_dsm_fd, r_raw_rc_values, &r_raw_rc_count, &dsm_11_bit, &n_bytes, &bytes, PX4IO_RC_INPUT_CHANNELS);
if (*dsm_updated) { if (*dsm_updated) {
r_raw_rc_count = temp_count & 0x7fff;
if (temp_count & 0x8000) { if (dsm_11_bit) {
r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11; r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_RC_DSM11;
} else { } else {