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rcData[] is keeping the right values now.

Browse source 
Logic for valid flightchannel detection is inverted in order to detect
the first flightchannel failure instead of waiting to check them all.

Clear PWM channel capture on read.

This invalidates the control channels on read. They are validated by
receiving a good value BEFORE the aux channels are received. This is
done because control channels configures to go OFF on failsafe are
detected with a PWM capture time-out. Time-out took so long that all aux
channels where overwritten by their RX configured failsafe values BEFORE
the invalid (=OFF) control channel was detected.
This commit is contained in:
ProDrone 2015-08-06 00:05:30 +02:00
parent 26ab91687f
commit 95840ae512
2 changed files with 34 additions and 18 deletions
Download patch file Download diff file Expand all files Collapse all files

4
src/main/drivers/pwm_rx.c
View file

@ -341,6 +341,8 @@ void ppmInConfig(const timerHardware_t *timerHardwarePtr)
uint16_t pwmRead(uint8_t channel)
{
return captures[channel];
uint16_t capture = captures[channel];
captures[channel] = PPM_RCVR_TIMEOUT;
return capture;
}

48
src/main/rx/rx.c
View file

@ -96,7 +96,7 @@ void useRxConfig(rxConfig_t *rxConfigToUse)
static uint8_t validFlightChannelMask;
STATIC_UNIT_TESTED void rxResetFlightChannelStatus(void) {
validFlightChannelMask = 0;
validFlightChannelMask = REQUIRED_CHANNEL_MASK;
}
STATIC_UNIT_TESTED bool rxHaveValidFlightChannels(void)
@ -108,11 +108,11 @@ STATIC_UNIT_TESTED bool rxHaveValidFlightChannels(void)
STATIC_UNIT_TESTED void rxUpdateFlightChannelStatus(uint8_t channel, uint16_t pulseDuration)
{
if (channel < NON_AUX_CHANNEL_COUNT &&
pulseDuration >= rxConfig->rx_min_usec &&
pulseDuration <= rxConfig->rx_max_usec
(pulseDuration < rxConfig->rx_min_usec ||
pulseDuration > rxConfig->rx_max_usec)
) {
// if signal is valid - mark channel as OK
validFlightChannelMask |= (1 << channel);
// if signal is invalid - mark channel as BAD
validFlightChannelMask &= ~(1 << channel);
}
}
@ -135,6 +135,10 @@ void rxInit(rxConfig_t *rxConfig)
rcData[i] = rxConfig->midrc;
}
if (!feature(FEATURE_3D)) {
rcData[0] = rxConfig->rx_min_usec;
}
#ifdef SERIAL_RX
if (feature(FEATURE_RX_SERIAL)) {
serialRxInit(rxConfig);
@ -362,7 +366,7 @@ STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChanne
void processRxChannels(void)
{
uint8_t chan;
uint8_t channel;
if (feature(FEATURE_RX_MSP)) {
return; // rcData will have already been updated by MSP_SET_RAW_RC
@ -370,33 +374,39 @@ void processRxChannels(void)
rxResetFlightChannelStatus();
for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
if (!rcReadRawFunc) {
rcData[chan] = getRxfailValue(chan);
rcData[channel] = getRxfailValue(channel);
continue;
}
uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, chan);
uint8_t rawChannel = calculateChannelRemapping(rxConfig->rcmap, REMAPPABLE_CHANNEL_COUNT, channel);
// sample the channel
uint16_t sample = rcReadRawFunc(&rxRuntimeConfig, rawChannel);
// apply the rx calibration
if (chan < NON_AUX_CHANNEL_COUNT) {
sample = applyRxChannelRangeConfiguraton(sample, rxConfig->channelRanges[chan]);
if (channel < NON_AUX_CHANNEL_COUNT) {
sample = applyRxChannelRangeConfiguraton(sample, rxConfig->channelRanges[channel]);
}
rxUpdateFlightChannelStatus(chan, sample);
rxUpdateFlightChannelStatus(channel, sample);
if (!rxHaveValidFlightChannels()) {
// abort on first indication of control channel failure to prevent aux channel changes
// caused by rx's where aux channels are set to goto a predefined value on failsafe.
break;
}
if (sample < rxConfig->rx_min_usec || sample > rxConfig->rx_max_usec || !rxSignalReceived) {
sample = getRxfailValue(chan);
sample = getRxfailValue(channel);
}
if (isRxDataDriven()) {
rcData[chan] = sample;
rcData[channel] = sample;
} else {
rcData[chan] = calculateNonDataDrivenChannel(chan, sample);
rcData[channel] = calculateNonDataDrivenChannel(channel, sample);
}
}
@ -410,8 +420,12 @@ void processRxChannels(void)
rxSignalReceived = false;
}
for (chan = 0; chan < rxRuntimeConfig.channelCount; chan++) {
rcData[chan] = getRxfailValue(chan);
for (channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
if (isRxDataDriven()) {
rcData[channel] = getRxfailValue(channel);
} else {
rcData[channel] = calculateNonDataDrivenChannel(channel, getRxfailValue(channel));
}
}
}
}