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RC_Channel: Allow a RC_OVERRIDE_TIMEOUT of -1 to use the overrides 

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This commit is contained in:
Michael du Breuil 2018-07-17 18:47:20 -07:00 committed by Andrew Tridgell
parent 83ed210869
commit e1b69a7534
2 changed files with 4 additions and 2 deletions
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4
libraries/RC_Channel/RC_Channel.cpp
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@ -327,7 +327,9 @@ void RC_Channel::clear_override()
bool RC_Channel::has_override() const bool RC_Channel::has_override() const
{ {
return (override_value > 0) && ((AP_HAL::millis() - last_override_time) < *RC_Channels::override_timeout * 1000); int32_t override_timeout = (int32_t)(*RC_Channels::override_timeout);
return (override_value > 0) && ((override_timeout < 0) ||
((AP_HAL::millis() - last_override_time) < (uint32_t)(override_timeout * 1000)));
} }
bool RC_Channel::min_max_configured() const bool RC_Channel::min_max_configured() const

2
libraries/RC_Channel/RC_Channels.cpp
View File

@ -99,7 +99,7 @@ const AP_Param::GroupInfo RC_Channels::var_info[] = {
// @Param: _OVERRIDE_TIME // @Param: _OVERRIDE_TIME
// @DisplayName: RC override timeout // @DisplayName: RC override timeout
// @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides // @Description: Timeout after which RC overrides will no longer be used, and RC input will resume, 0 will disable RC overrides, -1 will never timeout, and continue using overrides until they are disabled
// @User: Advanced // @User: Advanced
// @Range: 0.0 120.0 // @Range: 0.0 120.0
// @Units: s // @Units: s