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HAL_SITL: check for SIM_RC_FAIL

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This commit is contained in:
Andrew Tridgell 2016-06-05 05:54:46 +10:00
parent 4e3dd315cb
commit 0166ab2038
1 changed files with 4 additions and 2 deletions
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2
libraries/AP_HAL_SITL/SITL_State.cpp
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@ -275,10 +275,12 @@ void SITL_State::_fdm_input_local(void)
sitl_model->fill_fdm(_sitl->state); sitl_model->fill_fdm(_sitl->state);
_sitl->update_rate_hz = sitl_model->get_rate_hz(); _sitl->update_rate_hz = sitl_model->get_rate_hz();
if (_sitl->rc_fail == 0) {
for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) { for (uint8_t i=0; i< _sitl->state.rcin_chan_count; i++) {
pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000; pwm_input[i] = 1000 + _sitl->state.rcin[i]*1000;
} }
} }
}
if (gimbal != NULL) { if (gimbal != NULL) {
gimbal->update(); gimbal->update();