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Fix random RX loss beep when using Serial RX receivers.

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This commit is contained in:
Dominic Clifton 2015-04-23 16:33:41 +02:00
parent 7266d42466
commit bad0b1b04d
3 changed files with 30 additions and 18 deletions
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10
src/main/flight/failsafe.c
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@ -18,6 +18,8 @@
#include <stdbool.h>
#include <stdint.h>
#include "debug.h"
#include "common/axis.h"
#include "rx/rx.h"
@ -75,11 +77,11 @@ failsafePhase_e failsafePhase()
return failsafeState.phase;
}
#define MAX_COUNTER_VALUE_WHEN_RX_IS_RECEIVED_AFTER_RX_CYCLE 1
#define FAILSAFE_COUNTER_THRESHOLD 20
bool failsafeIsReceivingRxData(void)
{
return failsafeState.counter <= MAX_COUNTER_VALUE_WHEN_RX_IS_RECEIVED_AFTER_RX_CYCLE;
return failsafeState.counter <= FAILSAFE_COUNTER_THRESHOLD;
}
bool failsafeIsMonitoring(void)
@ -130,8 +132,8 @@ static void failsafeApplyControlInput(void)
void failsafeOnValidDataReceived(void)
{
if (failsafeState.counter > 20)
failsafeState.counter -= 20;
if (failsafeState.counter > FAILSAFE_COUNTER_THRESHOLD)
failsafeState.counter -= FAILSAFE_COUNTER_THRESHOLD;
else
failsafeState.counter = 0;
}