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RC_Channel: Cope with selective overrides and no RC reciever in a healthier way

This commit is contained in:
Michael du Breuil 2020-05-18 15:37:55 -07:00 committed by Andrew Tridgell
parent e02145efa0
commit e4d0484b75
3 changed files with 9 additions and 3 deletions
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2
libraries/RC_Channel/RC_Channel.cpp
View File

@ -135,7 +135,7 @@ bool RC_Channel::update(void)
{
if (has_override() && !rc().ignore_overrides()) {
radio_in = override_value;
} else if (!rc().ignore_receiver()) {
} else if (rc().has_had_rc_receiver() && !rc().ignore_receiver()) {
radio_in = hal.rcin->read(ch_in);
} else {
return false;

6
libraries/RC_Channel/RC_Channel.h
View File

@ -401,7 +401,10 @@ public:
float override_timeout_ms() const {
return _override_timeout.get() * 1e3f;
}
// returns true if we have had a direct detach RC reciever, does not include overrides
bool has_had_rc_receiver() const { return _has_had_rc_receiver; }
/*
get the RC input PWM value given a channel number. Note that
channel numbers start at 1, as this API is designed for use in
@ -435,6 +438,7 @@ private:
uint32_t last_update_ms;
bool has_new_overrides;
bool _has_had_rc_receiver; // true if we have had a direct detach RC reciever, does not include overrides
AP_Float _override_timeout;
AP_Int32 _options;

4
libraries/RC_Channel/RC_Channels.cpp
View File

@ -68,7 +68,9 @@ uint8_t RC_Channels::get_radio_in(uint16_t *chans, const uint8_t num_channels)
// update all the input channels
bool RC_Channels::read_input(void)
{
if (!hal.rcin->new_input() && !has_new_overrides) {
if (hal.rcin->new_input()) {
_has_had_rc_receiver = true;
} else if (!has_new_overrides) {
return false;
}