Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-03 14:38:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_IOMCU: fixed handling of RC ignore failsafe option

Browse Source 
this allows for ignoring SBUS failsafe on boards using an IOMCU
This commit is contained in:
Andrew Tridgell 2020-08-24 08:48:36 +10:00
parent dbaf4c833b
commit 2f85bd54ea
1 changed files with 3 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_IOMCU/AP_IOMCU.cpp
View File

@ -288,6 +288,9 @@ void AP_IOMCU::read_rc_input()
if (!read_registers(PAGE_RAW_RCIN, 0, sizeof(rc_input)/2, r)) {
return;
}
if (rc_input.flags_failsafe && rc().ignore_rc_failsafe()) {
rc_input.flags_failsafe = false;
}
if (rc_input.flags_rc_ok && !rc_input.flags_failsafe) {
rc_last_input_ms = AP_HAL::millis();
}