From 0ae1ac182a30d26502ef83805717cd697148dd7d Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <andrew@tridgell.net>
Date: Sun, 27 Mar 2022 17:30:19 +1100
Subject: [PATCH] HAL_ChibiOS: switch between IOMCU and RCProt rapidly

keep the RCProtocol decoder going when IOMCU being used, allowing for fast failover
between IOMCU RC input and uart RC input
---
 libraries/AP_HAL_ChibiOS/RCInput.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_HAL_ChibiOS/RCInput.cpp b/libraries/AP_HAL_ChibiOS/RCInput.cpp
index a82b3fdb1b..9e6cfeb813 100644
--- a/libraries/AP_HAL_ChibiOS/RCInput.cpp
+++ b/libraries/AP_HAL_ChibiOS/RCInput.cpp
@@ -181,7 +181,7 @@ void RCInput::_timer_tick(void)
         _rcin_last_iomcu_ms = 0;
     }
 
-    if (!have_iocmu_rc && rcprot.new_input()) {
+    if (rcprot.new_input() && !have_iocmu_rc) {
         WITH_SEMAPHORE(rcin_mutex);
         _rcin_timestamp_last_signal = AP_HAL::micros();
         _num_channels = rcprot.num_channels();