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Hotfix: Check all channel mappings for valid ranges

This commit is contained in:
Lorenz Meier 2014-02-01 18:59:26 +01:00
parent 22efca262d
commit 14bbecfd7a
2 changed files with 13 additions and 5 deletions
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2
src/modules/commander/commander.cpp
View File

@ -1403,7 +1403,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
{ {
/* main mode switch */ /* main mode switch */
if (!isfinite(sp_man->mode_switch)) { if (!isfinite(sp_man->mode_switch)) {
warnx("mode sw not finite"); /* default to manual if signal is invalid */
current_status->mode_switch = MODE_SWITCH_MANUAL; current_status->mode_switch = MODE_SWITCH_MANUAL;
} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {

16
src/modules/sensors/sensors.cpp
View File

@ -1406,16 +1406,24 @@ Sensors::rc_poll()
} }
/* mode switch input */ /* mode switch input */
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); if (_rc.function[MODE] >= 0) {
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
/* land switch input */ /* land switch input */
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); if (_rc.function[MODE] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
/* assisted switch input */ /* assisted switch input */
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); if (_rc.function[MODE] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
/* mission switch input */ /* mission switch input */
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); if (_rc.function[MODE] >= 0) {
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* flaps */ /* flaps */
if (_rc.function[FLAPS] >= 0) { if (_rc.function[FLAPS] >= 0) {