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Code Issues Wiki Activity

Limit RC command processing rate

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-04-04 23:42:40 +10:00
parent 9efddaf14f
commit 4cdcd71fc5
1 changed files with 10 additions and 2 deletions
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12
src/main/fc/rc_controls.c
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@ -59,6 +59,7 @@
#include "sensors/acceleration.h"
#define AIRMODE_DEADBAND 25
#define MIN_RC_TICK_INTERVAL_MS 20
// true if arming is done via the sticks (as opposed to a switch)
static bool isUsingSticksToArm = true;
@ -131,12 +132,15 @@ rollPitchStatus_e calculateRollPitchCenterStatus(void)
void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_switch, bool fixed_wing_auto_arm)
{
static timeMs_t lastTickTimeMs = 0;
static uint8_t rcDelayCommand; // this indicates the number of time (multiple of RC measurement at 50Hz) the sticks must be maintained to run or switch off motors
static uint8_t rcSticks; // this hold sticks position for command combos
static uint8_t rcDisarmTicks; // this is an extra guard for disarming through switch to prevent that one frame can disarm it
uint8_t stTmp = 0;
int i;
const timeMs_t currentTimeMs = millis();
// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
for (i = 0; i < 4; i++) {
@ -147,8 +151,12 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
stTmp |= 0x40; // check for MAX
}
if (stTmp == rcSticks) {
if (rcDelayCommand < 250)
rcDelayCommand++;
if (rcDelayCommand < 250) {
if ((currentTimeMs - lastTickTimeMs) >= MIN_RC_TICK_INTERVAL_MS) {
lastTickTimeMs = currentTimeMs;
rcDelayCommand++;
}
}
} else
rcDelayCommand = 0;
rcSticks = stTmp;