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RC_Channel: process only transitions after rc is valid for arm_emergency_stop switch and parachute deploy switch

This commit is contained in:
Peter Barker 2024-04-10 10:54:06 +10:00 committed by Peter Barker
parent 904f1dffa7
commit d1a1bcba19
1 changed files with 3 additions and 1 deletions
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4
libraries/RC_Channel/RC_Channel.cpp
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@ -868,6 +868,9 @@ bool RC_Channel::init_position_on_first_radio_read(AUX_FUNC func) const
switch (func) {
case AUX_FUNC::ARMDISARM_AIRMODE:
case AUX_FUNC::ARMDISARM:
case AUX_FUNC::ARM_EMERGENCY_STOP:
case AUX_FUNC::PARACHUTE_RELEASE:
// we do not want to process
return true;
default:
@ -1154,7 +1157,6 @@ void RC_Channel::do_aux_function_sprayer(const AuxSwitchPos ch_flag)
if (sprayer == nullptr) {
return;
}
sprayer->run(ch_flag == AuxSwitchPos::HIGH);
// if we are disarmed the pilot must want to test the pump
sprayer->test_pump((ch_flag == AuxSwitchPos::HIGH) && !hal.util->get_soft_armed());