Mirrors_Framework/paparazzi
1
0
Fork 0
mirror of https://github.com/paparazzi/paparazzi.git synced 2026-06-06 16:58:48 +08:00
Code Issues Actions 26 Packages Projects Releases Wiki Activity

added stm_msg_count and stm_error_count to up spi message as sanity check

Browse Source
This commit is contained in:
Antoine Drouin
2010-08-12 00:40:47 +00:00
parent 9570e3dee7
commit f850eaac21
2 changed files with 5 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
sw/airborne/fms/fms_autopilot_msg.h
+2
View File
@@ -85,6 +85,8 @@ struct __attribute__ ((packed)) AutopilotMessagePTUp
int16_t rc_aux4;
uint8_t rc_status;
struct PTUpValidFlags valid;
uint32_t stm_msg_cnt;
uint32_t stm_crc_err_cnt;
};
struct __attribute__ ((packed)) AutopilotMessagePTDown
sw/airborne/lisa/lisa_stm_passthrough_main.c
+3
View File
@@ -119,6 +119,9 @@ static inline void on_overo_link_msg_received(void) {
overo_link.up.msg.rc_aux4 = radio_control.values[RADIO_CONTROL_AUX4];
overo_link.up.msg.rc_status = radio_control.status;
overo_link.up.msg.stm_msg_cnt = overo_link.msg_cnt;
overo_link.up.msg.stm_crc_err_cnt = overo_link.crc_err_cnt;
for (int i = 0; i < LISA_PWM_OUTPUT_NB; i++)
booz_actuators_pwm_values[i] = overo_link.down.msg.pwm_outputs_usecs[i];
booz_actuators_pwm_commit();