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AP_RCProtocol: add error check for ppm input

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Alexander Malishev 2018-05-27 17:53:07 +04:00 committed by Andrew Tridgell
parent 7a1f87eb52
commit 9e4ec33277
1 changed files with 5 additions and 0 deletions
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5
libraries/AP_RCProtocol/AP_RCProtocol_PPMSum.cpp
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@ -22,6 +22,11 @@
*/
void AP_RCProtocol_PPMSum::process_pulse(uint32_t width_s0, uint32_t width_s1)
{
if (width_s0 == 0 || width_s1 == 0) {
//invalid data: reset frame
ppm_state._channel_counter = -1;
return;
}
uint32_t width_usec = width_s0 + width_s1;
if (width_usec >= 2700) {
// a long pulse indicates the end of a frame. Reset the