HAL_ChibiOS: Fixed s-bus signal polarity in SoftSigReaderInt.cpp

7 years ago · 776d5e6ba3
1 changed files with 4 additions and 0 deletions
--- a/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
+++ b/libraries/AP_HAL_ChibiOS/SoftSigReaderInt.cpp
@ -45,7 +45,11 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
				@@ -45,7 +45,11 @@ void SoftSigReaderInt::init(EICUDriver* icu_drv, eicuchannel_t chan)
        icucfg.iccfgp[i]=nullptr;
    }
    icucfg.iccfgp[chan] = &channel_config;
+#ifdef HAL_RCIN_IS_INVERTED
    channel_config.alvl = EICU_INPUT_ACTIVE_HIGH;
+#else
+    channel_config.alvl = EICU_INPUT_ACTIVE_LOW;
+#endif
    channel_config.capture_cb = _irq_handler;
    eicuStart(_icu_drv, &icucfg);
    //sets input filtering to 4 timer clock