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Copter: rc_override active only on non-zero overrides

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Bug found by Kevin Hester
This commit is contained in:
Randy Mackay 2015-07-22 16:53:31 +09:00
parent 7f97f7d0a3
commit 7935bf70f1
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/GCS_Mavlink.cpp
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@ -1091,11 +1091,11 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
v[5] = packet.chan6_raw;
v[6] = packet.chan7_raw;
v[7] = packet.chan8_raw;
hal.rcin->set_overrides(v, 8);
// record that rc are overwritten so we can trigger a failsafe if we lose contact with groundstation
copter.failsafe.rc_override_active = true;
// a RC override message is consiered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.rc_override_active = hal.rcin->set_overrides(v, 8);
// a RC override message is considered to be a 'heartbeat' from the ground station for failsafe purposes
copter.failsafe.last_heartbeat_ms = hal.scheduler->millis();
break;
}