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SRV_Channel: update_aux_servo_function first checks function is valid

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This resolves a bug in which the board could become unresponsive if an invalid function is selected
This commit is contained in:
Randy Mackay 2017-07-26 14:27:06 +09:00
parent 60834e9af0
commit 9123b6034e
1 changed files with 6 additions and 5 deletions
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5
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -140,10 +140,12 @@ void SRV_Channels::update_aux_servo_function(void)
// set auxiliary ranges
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
if ((uint8_t)channels[i].function.get() < SRV_Channel::k_nr_aux_servo_functions) {
channels[i].aux_servo_function_setup();
function_mask.set((uint8_t)channels[i].function.get());
functions[channels[i].function.get()].channel_mask |= 1U<<i;
}
}
initialised = true;
}
@ -158,9 +160,8 @@ void SRV_Channels::enable_aux_servos()
// includes k_none servos, which allows those to get their initial
// trim value on startup
for (uint8_t i = 0; i < NUM_SERVO_CHANNELS; i++) {
SRV_Channel::Aux_servo_function_t function = (SRV_Channel::Aux_servo_function_t)channels[i].function.get();
// see if it is a valid function
if (function < SRV_Channel::k_nr_aux_servo_functions) {
if ((uint8_t)channels[i].function.get() < SRV_Channel::k_nr_aux_servo_functions) {
hal.rcout->enable_ch(channels[i].ch_num);
}
}