Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: do not use out-of-range mode switch values

This commit is contained in:
Randy Mackay 2019-01-10 11:39:31 +09:00
parent d11caf042d
commit 45d912bdd6
1 changed files with 8 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
ArduCopter/switches.cpp
View File

@ -25,6 +25,14 @@ void Copter::read_control_switch()
// calculate position of flight mode switch
int8_t switch_position;
uint16_t mode_in = RC_Channels::rc_channel(g.flight_mode_chan-1)->get_radio_in();
// protect against out-of-range mode channel inputs
if ((mode_in <= 900) || (mode_in >= 2200)) {
// reset switch edge time so any debounce is not fooled
control_switch_state.last_edge_time_ms = tnow_ms;
return;
}
if (mode_in < 1231) switch_position = 0;
else if (mode_in < 1361) switch_position = 1;
else if (mode_in < 1491) switch_position = 2;