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Code Issues Releases Activity

Fixed PPM output from updated RadioComBridge module.

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This commit is contained in:
Brian Webb 2012-08-25 12:52:06 -07:00
parent e602b73a6f
commit b3dc617702
1 changed files with 11 additions and 14 deletions
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25
flight/Modules/RadioComBridge/RadioComBridge.c
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@ -91,10 +91,8 @@ typedef struct {
UAVTalkConnection GCSUAVTalkCon;
// Queue handles.
xQueueHandle radioPacketQueue;
xQueueHandle gcsEventQueue;
xQueueHandle uavtalkEventQueue;
xQueueHandle ppmOutQueue;
// Error statistics.
uint32_t comTxErrors;
@ -221,15 +219,12 @@ static int32_t RadioComBridgeInitialize(void)
data->UAVTalkCon = 0;
// Initialize the queues.
data->ppmOutQueue = 0;
data->radioPacketQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
data->gcsEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
if (PIOS_COM_UAVTALK)
data->uavtalkEventQueue = xQueueCreate(PACKET_QUEUE_SIZE, sizeof(UAVObjEvent));
else
{
data->uavtalkEventQueue = 0;
data->ppmOutQueue = data->radioPacketQueue;
}
// Initialize the statistics.
@ -637,7 +632,7 @@ static void transparentCommTask(void * parameters)
if (send_packet)
{
// Queue the packet for transmission.
queueEvent(data->radioPacketQueue, (void*)p, 0, EV_TRANSMIT_PACKET);
PHTransmitPacket(PIOS_PACKET_HANDLER, p);
// Reset the timeout
timeout = MAX_PORT_DELAY;
@ -675,14 +670,8 @@ static void ppmInputTask(void *parameters)
// Send the PPM packet if it's valid
if (valid_input_detected)
{
if (data->ppmOutQueue)
{
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
queueEvent(data->ppmOutQueue, (void*)pph, 0, EV_TRANSMIT_PACKET);
}
else
// Set the GCSReceiver UAVO if we're connected to the FC.
if (data->UAVTalkCon)
{
GCSReceiverData rcvr;
@ -693,6 +682,14 @@ static void ppmInputTask(void *parameters)
// Set the GCSReceiverData object.
GCSReceiverSet(&rcvr);
}
else
{
// Otherwise, send a PPM packet over the radio link.
ppm_packet.header.destination_id = data->destination_id;
ppm_packet.header.type = PACKET_TYPE_PPM;
ppm_packet.header.data_size = PH_PPM_DATA_SIZE(&ppm_packet);
PHTransmitPacket(PIOS_PACKET_HANDLER, pph);
}
}
// Delay until the next update period.