LP-520 Add PIOS_RCVR_TIMEOUT for failsafe state

f5soh · f5soh · commit 6d7aa878207d · 2017-06-24T14:54:02.000+02:00
diff --git a/flight/targets/boards/oplinkmini/firmware/pios_board.c b/flight/targets/boards/oplinkmini/firmware/pios_board.c
@@ -437,7 +437,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
 #if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)
     if (pios_ppm_out_id) {
         for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {
-            if (channels[i] != PIOS_RCVR_INVALID) {
+            if ((channels[i] != PIOS_RCVR_INVALID) && (channels[i] != PIOS_RCVR_TIMEOUT)) {
                 PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);
             }
         }
@@ -453,7 +453,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co
     }
 #if defined(PIOS_INCLUDE_SERVO)
     for (uint8_t i = 0; i < servo_count; ++i) {
-        uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];
+        uint16_t val = ((channels[i] == PIOS_RCVR_INVALID) || (channels[i] == PIOS_RCVR_TIMEOUT)) ? 0 : channels[i];
         PIOS_Servo_Set(i, val);
     }
 #endif /* PIOS_INCLUDE_SERVO */

Original file line number	Diff line number	Diff line change
`@@ -437,7 +437,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co`
`437`	`437`	`#if defined(PIOS_INCLUDE_PPM) && defined(PIOS_INCLUDE_PPM_OUT)`
`438`	`438`	`if (pios_ppm_out_id) {`
`439`	`439`	`for (uint8_t i = 0; i < RFM22B_PPM_NUM_CHANNELS; ++i) {`
`440`		`- if (channels[i] != PIOS_RCVR_INVALID) {`
	`440`	`+ if ((channels[i] != PIOS_RCVR_INVALID) && (channels[i] != PIOS_RCVR_TIMEOUT)) {`
`441`	`441`	`PIOS_PPM_OUT_Set(PIOS_PPM_OUTPUT, i, channels[i]);`
`442`	`442`	`}`
`443`	`443`	`}`
`@@ -453,7 +453,7 @@ static void PIOS_Board_PPM_callback(__attribute__((unused)) uint32_t context, co`
`453`	`453`	`}`
`454`	`454`	`#if defined(PIOS_INCLUDE_SERVO)`
`455`	`455`	`for (uint8_t i = 0; i < servo_count; ++i) {`
`456`		`- uint16_t val = (channels[i] == PIOS_RCVR_INVALID) ? 0 : channels[i];`
	`456`	`+ uint16_t val = ((channels[i] == PIOS_RCVR_INVALID) \|\| (channels[i] == PIOS_RCVR_TIMEOUT)) ? 0 : channels[i];`
`457`	`457`	`PIOS_Servo_Set(i, val);`
`458`	`458`	`}`
`459`	`459`	`#endif /* PIOS_INCLUDE_SERVO */`