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HAL_ChibiOS: display source of RC input

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distinguish between IOMCU, RCInput with bytes and RCInput with pulses
This commit is contained in:
Andrew Tridgell
2022-03-28 17:09:26 +11:00
parent b46b0d61a6
commit 4564140745
2 changed files with 19 additions and 3 deletions
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libraries/AP_HAL_ChibiOS/RCInput.cpp
+10 -3
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@@ -150,6 +150,7 @@ void RCInput::_timer_tick(void)
}
#ifndef HAL_NO_UARTDRIVER
const char *rc_protocol = nullptr;
RCSource source = last_source;
#endif
#ifndef HAL_BUILD_AP_PERIPH
@@ -191,12 +192,13 @@ void RCInput::_timer_tick(void)
_rx_link_quality = rcprot.get_rx_link_quality();
#ifndef HAL_NO_UARTDRIVER
rc_protocol = rcprot.protocol_name();
source = rcprot.using_uart() ? RCSource::RCPROT_BYTES : RCSource::RCPROT_PULSES;
#endif
}
#endif // HAL_BUILD_AP_PERIPH
#if HAL_RCINPUT_WITH_AP_RADIO
if (radio && radio->last_recv_us() != last_radio_us) {
if (radio && radio->last_recv_us() != last_radio_us && !have_iocmu_rc) {
last_radio_us = radio->last_recv_us();
WITH_SEMAPHORE(rcin_mutex);
_rcin_timestamp_last_signal = last_radio_us;
@@ -205,6 +207,9 @@ void RCInput::_timer_tick(void)
for (uint8_t i=0; i<_num_channels; i++) {
_rc_values[i] = radio->read(i);
}
#ifndef HAL_NO_UARTDRIVER
source = RCSource::APRADIO;
#endif
}
#endif
@@ -218,15 +223,17 @@ void RCInput::_timer_tick(void)
#ifndef HAL_NO_UARTDRIVER
rc_protocol = iomcu.get_rc_protocol();
_rssi = iomcu.get_RSSI();
source = RCSource::IOMCU;
#endif
}
}
#endif
#ifndef HAL_NO_UARTDRIVER
if (rc_protocol && rc_protocol != last_protocol) {
if (rc_protocol && (rc_protocol != last_protocol || source != last_source)) {
last_protocol = rc_protocol;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s", last_protocol);
last_source = source;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG, "RCInput: decoding %s(%u)", last_protocol, unsigned(source));
}
#endif