From fdff355a8acb606b85a65e732e0b91d4efe20ea6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Mon, 24 Aug 2020 08:48:36 +1000 Subject: [PATCH] AP_IOMCU: fixed handling of RC ignore failsafe option this allows for ignoring SBUS failsafe on boards using an IOMCU --- libraries/AP_IOMCU/AP_IOMCU.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp index 9ee672e1ed..a32268131a 100644 --- a/libraries/AP_IOMCU/AP_IOMCU.cpp +++ b/libraries/AP_IOMCU/AP_IOMCU.cpp @@ -291,6 +291,9 @@ void AP_IOMCU::read_rc_input() if (!read_registers(PAGE_RAW_RCIN, 0, sizeof(rc_input)/2, r)) { return; } + if (rc_input.flags_failsafe && rc().ignore_rc_failsafe()) { + rc_input.flags_failsafe = false; + } if (rc_input.flags_rc_ok && !rc_input.flags_failsafe) { rc_last_input_ms = AP_HAL::millis(); }