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HAL_PX4: fixed RC failsafe for SBUS on FMUv4 

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
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10
libraries/AP_HAL_PX4/RCInput.cpp
View File

@ -26,7 +26,15 @@ void PX4RCInput::init()
bool PX4RCInput::new_input()
{
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;
_override_valid = false;
pthread_mutex_unlock(&rcin_mutex);