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PX4IO Firmware: Only decode DSM if no other input method matched

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This ensures that the DSM decoder does not accidentally decode noise on the bus as DSM is not well-protected against CRC errors.
This commit is contained in:
Lorenz Meier
2018-03-05 09:44:40 +01:00
parent 4d8bd28a2b
commit 97e8ec9551
1 changed files with 20 additions and 18 deletions
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src/modules/px4iofirmware/controls.c
+20 -18
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@@ -230,24 +230,6 @@ controls_tick()
rssi = 0; rssi = 0;
} }
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated, sumd_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
}
if (st24_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
}
if (sumd_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
}
perf_end(c_gather_dsm);
perf_begin(c_gather_sbus); perf_begin(c_gather_sbus);
bool sbus_failsafe, sbus_frame_drop; bool sbus_failsafe, sbus_frame_drop;
@@ -300,6 +282,26 @@ controls_tick()
perf_end(c_gather_ppm); perf_end(c_gather_ppm);
if (!((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_SBUS) || (r_status_flags & PX4IO_P_STATUS_FLAGS_RC_PPM))) {
perf_begin(c_gather_dsm);
bool dsm_updated, st24_updated, sumd_updated;
(void)dsm_port_input(&rssi, &dsm_updated, &st24_updated, &sumd_updated);
if (dsm_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_DSM);
}
if (st24_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_ST24);
}
if (sumd_updated) {
PX4_ATOMIC_MODIFY_OR(r_status_flags, PX4IO_P_STATUS_FLAGS_RC_SUMD);
}
perf_end(c_gather_dsm);
}
/* limit number of channels to allowable data size */ /* limit number of channels to allowable data size */
if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) { if (r_raw_rc_count > PX4IO_RC_INPUT_CHANNELS) {
r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS; r_raw_rc_count = PX4IO_RC_INPUT_CHANNELS;