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SITL: prevent flip over of RF9 quadplanes on reboot 

send a zero channel mask until we are initialised
This commit is contained in:
Andrew Tridgell 2021-08-15 11:15:33 +10:00
parent 0b0ca6a9e9
commit 9507f7883f
1 changed files with 15 additions and 13 deletions
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28
libraries/SITL/SIM_FlightAxis.cpp
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@ -296,12 +296,13 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
scaled_servos[1] = constrain_float(pitch_rate + 0.5, 0, 1);
}
const uint16_t channels = hal.scheduler->is_system_initialized()?4095:0;
if (!sock) {
soap_request_start("ExchangeData", R"(<?xml version='1.0' encoding='UTF-8'?><soap:Envelope xmlns:soap='http://schemas.xmlsoap.org/soap/envelope/' xmlns:xsd='http://www.w3.org/2001/XMLSchema' xmlns:xsi='http://www.w3.org/2001/XMLSchema-instance'>
<soap:Body>
<ExchangeData>
<pControlInputs>
<m-selectedChannels>4095</m-selectedChannels>
<m-selectedChannels>%u</m-selectedChannels>
<m-channelValues-0to1>
<item>%.4f</item>
<item>%.4f</item>
@ -320,18 +321,19 @@ void FlightAxis::exchange_data(const struct sitl_input &input)
</ExchangeData>
</soap:Body>
</soap:Envelope>)",
scaled_servos[0],
scaled_servos[1],
scaled_servos[2],
scaled_servos[3],
scaled_servos[4],
scaled_servos[5],
scaled_servos[6],
scaled_servos[7],
scaled_servos[8],
scaled_servos[9],
scaled_servos[10],
scaled_servos[11]);
channels,
scaled_servos[0],
scaled_servos[1],
scaled_servos[2],
scaled_servos[3],
scaled_servos[4],
scaled_servos[5],
scaled_servos[6],
scaled_servos[7],
scaled_servos[8],
scaled_servos[9],
scaled_servos[10],
scaled_servos[11]);
}
char *reply = nullptr;