Input capture interrupt Check PPM1 Validity

Valid

ArduPPM

Run output driver high level

High

Redundancy mode Olivier ADLER 2013

Level Detection PPM1

PPM1

Read Timer 1 value

Task optimizer Version 3.01 beta 3

Low Run output driver low level

Check Switchover

PPM Redundancy Mode

Yes

High

PPM2 Check PPM2 Validity

Valid

Run output driver high level

Level Detection PPM2

Low Variables reset If coming back from watchdog

Part of ArduPilot GPLv3 licensed project

Run output driver low level

LED Control Store current time (servo_time)

No

Reset Watchdog

Calculate pin changes servo_change

Store input pins levels servo_pins_old

Input PPM1 and Input PPM2 changes

Yes Input PPM1 only Level change

Run decoder CH1 Run decoder CH1 Run Dead input detector CH2 Run decoder CH2

Input PPM2 only Level change

Run decoder CH2

Run Dead input detector CH1

Switchover and Failsafe decision

Reset Dead input detectors

Validity checker

Input capture interrupt Yes High Low PPM1 High Low ... -

Read Timer 1 value. Input capture interrupt. Store current time. (servo_time). PPM. Redundancy. Mode. Variables reset. If coming back from watchdog. Calculate ...
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