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AP_HAL_SITL: correct bind-value SIM_RC_FAIL handling 

If SITL is not receiving any sitl rc input (so _sitl_rc_in.recv(...) is allways returns -1 then the bind-values code would never be crossed so the RC input values would remain at their initialisation values rather than honouring the SIM_RC_FAIL setting which says they should go to bind values (notably throttle-to-950)
This commit is contained in:
Peter Barker 2022-08-05 09:31:57 +10:00 committed by Andrew Tridgell
parent 760436c282
commit 1c7e2f5094
1 changed files with 11 additions and 9 deletions
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20
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -440,6 +440,17 @@ bool SITL_State::_read_rc_sitl_input()
} pwm_pkt;
const ssize_t size = _sitl_rc_in.recv(&pwm_pkt, sizeof(pwm_pkt), 0);
if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_Throttle950) {
// discard anything we just read from the "receiver" and set
// values to bind values:
for (uint8_t i=0; i<ARRAY_SIZE(pwm_input); i++) {
pwm_input[0] = 1500; // centre all inputs
}
pwm_input[2] = 950; // reset throttle (assumed to be on channel 3...)
return size != -1; // we must continue to drain _sitl_rc
}
switch (size) {
case -1:
return false;
@ -454,15 +465,6 @@ bool SITL_State::_read_rc_sitl_input()
}
uint16_t pwm = pwm_pkt.pwm[i];
if (pwm != 0) {
if (_sitl->rc_fail == SITL::SIM::SITL_RCFail_Throttle950) {
if (i == 2) {
// set throttle (assumed to be on channel 3...)
pwm = 950;
} else {
// centre all other inputs
pwm = 1500;
}
}
pwm_input[i] = pwm;
}
}