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Merge pull request #3482 from iNavFlight/de_rcdata_ignore_failsafe
Ignore RC channel values sent by receiver in failsafe
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commit
3e670db83c
3 changed files with 16 additions and 4 deletions
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@ -486,7 +486,7 @@ static bool mspFcProcessOutCommand(uint16_t cmdMSP, sbuf_t *dst, mspPostProcessF
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case MSP_RC:
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for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
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sbufWriteU16(dst, rcData[i]);
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sbufWriteU16(dst, rcRaw[i]);
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}
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break;
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@ -470,6 +470,7 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
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{
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UNUSED(currentTimeUs);
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int16_t rcStaging[MAX_SUPPORTED_RC_CHANNEL_COUNT];
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const timeMs_t currentTimeMs = millis();
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if (auxiliaryProcessingRequired) {
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@ -520,11 +521,21 @@ bool calculateRxChannelsAndUpdateFailsafe(timeUs_t currentTimeUs)
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rcInvalidPulsPeriod[channel] = currentTimeMs + MAX_INVALID_PULS_TIME;
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}
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// Update rcData channel value
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// Save channel value
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rcStaging[channel] = sample;
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}
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// Update rcData channel value if receiver is not in failsafe mode
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// If receiver is in failsafe (not receiving signal or sending invalid channel values) - last good rcData values are retained
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if (rxFlightChannelsValid && rxSignalReceived) {
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if (rxRuntimeConfig.requireFiltering) {
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rcData[channel] = applyChannelFiltering(channel, sample);
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for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
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rcData[channel] = applyChannelFiltering(channel, rcStaging[channel]);
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}
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} else {
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rcData[channel] = sample;
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for (int channel = 0; channel < rxRuntimeConfig.channelCount; channel++) {
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rcData[channel] = rcStaging[channel];
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}
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}
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}
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@ -93,6 +93,7 @@ typedef enum {
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extern const char rcChannelLetters[];
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extern int16_t rcRaw[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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extern int16_t rcData[MAX_SUPPORTED_RC_CHANNEL_COUNT]; // interval [1000;2000]
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#define MAX_MAPPABLE_RX_INPUTS 4
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