From a0b0df0252630bd545319c0bbec2c74ae1d12d0d Mon Sep 17 00:00:00 2001
From: Julian Oes <joes@student.ethz.ch>
Date: Tue, 26 Feb 2013 18:45:32 -0800
Subject: [PATCH] ArduPPM: Set Ch1-4 to their fail-safe position and leave
Ch5-8 at their last value
---
Tools/ArduPPM/Libraries/PPM_Encoder.h | 19 +++++++++++++++----
1 file changed, 15 insertions(+), 4 deletions(-)
diff --git a/Tools/ArduPPM/Libraries/PPM_Encoder.h b/Tools/ArduPPM/Libraries/PPM_Encoder.h
index 9b35e5659..506e4ff1f 100644
--- a/Tools/ArduPPM/Libraries/PPM_Encoder.h
+++ b/Tools/ArduPPM/Libraries/PPM_Encoder.h
@@ -1,5 +1,5 @@
// -------------------------------------------------------------
-// ArduPPM (PPM Encoder) V2.3.16
+// ArduPPM (PPM Encoder) V2.3.17pre
// -------------------------------------------------------------
// Improved servo to ppm for ArduPilot MEGA v1.x (ATmega328p),
// PhoneDrone and APM2.x (ATmega32u2)
@@ -143,6 +143,10 @@
// 26-02-2013
// V2.3.16 - when a channel is lost don't set it to a fail-safe value but retain its last value (except throttle)
+// 26-02-2013
+// V2.3.17pre - set channel 1,2 and 4 to center, 3 to low and leave 5-8 at last value
+// - LED indication is only triggered when throttle is set low
+
// -------------------------------------------------------------
#ifndef _PPM_ENCODER_H_
@@ -184,7 +188,7 @@
#endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
-const char ver[15] = "ArduPPMv2.3.16";
+const char ver[15] = "ArduPPMv2.3.17pre";
// -------------------------------------------------------------
// INPUT MODE
@@ -797,12 +801,19 @@ ISR( PPM_INT_VECTOR, ISR_NOBLOCK )
if( ppm_timeout[ ppm_out_channel ] > PPM_TIMEOUT_VALUE )
{
// Use the ppm fail-safe value for throttle
- if (ppm_out_channel == 5)
+ if( ppm_out_channel == 5 )
{
cli();
PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
- // report this to the LED indication
+ sei();
+ // report this to the LED indication
servo_input_missing = true;
+ }
+ // also use the fail-safe value for roll, pitch and yaw (but don't notify LED)
+ else if( ppm_out_channel == 1 || ppm_out_channel == 3 || ppm_out_channel == 7 )
+ {
+ cli();
+ PPM_COMPARE += failsafe_ppm[ ppm_out_channel ];
sei();
}
else
--
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