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SRV_Channel: avoid using bad RC data in passthrough code

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we may not have valid input but not be at the stage of declaring an RC failsafe.
This commit is contained in:
Peter Barker 2023-08-10 09:00:41 +10:00 committed by Andrew Tridgell
parent a430232e1c
commit b8c1367aac
1 changed files with 11 additions and 3 deletions
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10
libraries/SRV_Channel/SRV_Channel_aux.cpp
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@ -59,10 +59,18 @@ void SRV_Channel::output_ch(void)
// non-mapped rc passthrough
int16_t radio_in = c->get_radio_in();
if (passthrough_mapped) {
if (rc().has_valid_input()) {
radio_in = pwm_from_angle(c->norm_input_dz() * 4500);
} else {
// no valid input. If we are in radio
// failsafe then go to trim values (if
// configured for this channel). Otherwise
// use the last-good value
if ( ((1U<<passthrough_from) & SRV_Channels::get_rc_fs_mask()) && rc().in_rc_failsafe()) {
radio_in = pwm_from_angle(0);
} else {
radio_in = pwm_from_angle(c->norm_input_dz() * 4500);
radio_in = previous_radio_in;
}
}
}
if (!ign_small_rcin_changes) {