Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

HAL_PX4: fixed RC failsafe for SBUS on FMUv4

Browse Source 
the FMUv4 SBUS parser sets timestamp_last_signal even if we are in
failsafe

thanks to Mark Whitehorn for finding this
This commit is contained in:
Andrew Tridgell 2017-03-16 08:58:02 +11:00
parent 551fa67673
commit fc4caf51e9
1 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -26,7 +26,15 @@ void PX4RCInput::init()
bool PX4RCInput::new_input() bool PX4RCInput::new_input()
{ {
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid; bool valid = _rcin.timestamp_last_signal != _last_read;
if (_rcin.rc_failsafe) {
// don't consider input valid if we are in RC failsafe.
valid = false;
}
if (_override_valid) {
// if we have RC overrides active, then always consider it valid
valid = true;
}
_last_read = _rcin.timestamp_last_signal; _last_read = _rcin.timestamp_last_signal;
_override_valid = false; _override_valid = false;
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);