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Code Issues Releases Activity

LP-407 Pios_Sbus: Set quality to minimum after a failsafe

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This commit is contained in:
Laurent Lalanne 2016-09-14 14:57:55 +02:00
parent cff5dac088
commit 72aabd30fd
1 changed files with 2 additions and 0 deletions
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2
flight/pios/common/pios_sbus.c
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@ -125,6 +125,7 @@ static void PIOS_SBus_ResetChannels(struct pios_sbus_state *state)
{
for (int i = 0; i < PIOS_SBUS_NUM_INPUTS; i++) {
state->channel_data[i] = PIOS_RCVR_TIMEOUT;
state->quality = 0.0f;
}
}
@ -302,6 +303,7 @@ static void PIOS_SBus_UpdateState(struct pios_sbus_state *state, uint8_t b)
}
#ifndef SBUS_GOOD_FRAME_COUNT
/* Present quality as a weighted average of good frames */
// TODO: Refactor quality computation, give 4% (quality_trend / SBUS_FL_WEIGHTED_AVE) at minimum
state->quality = ((state->quality * (SBUS_FL_WEIGHTED_AVE - 1)) +
quality_trend) / SBUS_FL_WEIGHTED_AVE;
#endif /* SBUS_GOOD_FRAME_COUNT */