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AP_RCProtocol: only update rc value for GHST on rc frames #28083

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merged 1 commit into from
Sep 13, 2024
Merged

AP_RCProtocol: only update rc value for GHST on rc frames #28083

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5 changes: 4 additions & 1 deletion libraries/AP_RCProtocol/AP_RCProtocol_GHST.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
const RadioFrame* radio_frame = (const RadioFrame*)(&_frame.payload);
const Channels12Bit_4Chan* channels = &(radio_frame->channels);
const uint8_t* lowres_channels = radio_frame->lowres_channels;
bool rc_frame = false;

// Scaling from Betaflight
// Scaling 12bit channels (8bit channels in brackets)
Expand Down Expand Up @@ -328,6 +329,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[1]);
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[2]);
_channels[offset++] = CHANNEL_LR_SCALE_LEGACY(lowres_channels[3]);
rc_frame = true;
break;
}
case GHST_UL_RC_CHANS_HS4_12_5TO8:
Expand All @@ -338,6 +340,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[1]);
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[2]);
_channels[offset++] = CHANNEL_LR_SCALE(lowres_channels[3]);
rc_frame = true;
break;
}
case GHST_UL_RC_CHANS_RSSI:
Expand All @@ -355,7 +358,7 @@ bool AP_RCProtocol_GHST::decode_ghost_packet()
}
#endif

return true;
return rc_frame;
}

// send out telemetry
Expand Down
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