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Merge pull request #102 from fnurgel/fnurgel/sbus_rx_failsafe_enable

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Use rx failsafe when baseflight failsafe is not enabled for s.bus
This commit is contained in:
dongie 2014-05-10 07:58:03 +09:00
commit a848ccc129
1 changed files with 18 additions and 17 deletions
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35
src/sbus.c
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@ -79,24 +79,25 @@ static void sbusDataReceive(uint16_t c)
bool sbusFrameComplete(void) bool sbusFrameComplete(void)
{ {
if (sbusFrameDone) { if (!sbusFrameDone) {
if (!((sbus.in[22] >> 3) & 0x0001)) { // failsave flag return false;
failsafeCnt = 0; // clear FailSafe counter
sbusChannelData[0] = sbus.msg.chan0;
sbusChannelData[1] = sbus.msg.chan1;
sbusChannelData[2] = sbus.msg.chan2;
sbusChannelData[3] = sbus.msg.chan3;
sbusChannelData[4] = sbus.msg.chan4;
sbusChannelData[5] = sbus.msg.chan5;
sbusChannelData[6] = sbus.msg.chan6;
sbusChannelData[7] = sbus.msg.chan7;
// need more channels? No problem. Add them.
sbusFrameDone = false;
return true;
}
sbusFrameDone = false;
} }
return false; sbusFrameDone = false;
if (feature(FEATURE_FAILSAFE) && ((sbus.in[22] >> 3) & 0x0001)) {
// internal failsafe enabled and rx failsafe flag set
return false;
}
failsafeCnt = 0; // clear FailSafe counter
sbusChannelData[0] = sbus.msg.chan0;
sbusChannelData[1] = sbus.msg.chan1;
sbusChannelData[2] = sbus.msg.chan2;
sbusChannelData[3] = sbus.msg.chan3;
sbusChannelData[4] = sbus.msg.chan4;
sbusChannelData[5] = sbus.msg.chan5;
sbusChannelData[6] = sbus.msg.chan6;
sbusChannelData[7] = sbus.msg.chan7;
// need more channels? No problem. Add them.
return true;
} }
static uint16_t sbusReadRawRC(uint8_t chan) static uint16_t sbusReadRawRC(uint8_t chan)