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px4-firmware
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px4iofirmware: improve check for rc controlled channels in manual mode

This commit is contained in:
Thomas Gubler 2013-12-11 16:57:19 +01:00
parent 2fb493e639
commit 4ab7ac67a5
1 changed files with 2 additions and 2 deletions
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4
src/modules/px4iofirmware/mixer.cpp
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@ -258,7 +258,7 @@ mixer_callback(uintptr_t handle,
return -1;
case MIX_OVERRIDE:
if ((r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) && CONTROL_PAGE_INDEX(control_group, control_index) < PX4IO_RC_INPUT_CHANNELS) {
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
}
@ -266,7 +266,7 @@ mixer_callback(uintptr_t handle,
case MIX_OVERRIDE_FMU_OK:
/* FMU is ok but we are in override mode, use direct rc control for the available rc channels. The remaining channels are still controlled by the fmu */
if ((r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) && CONTROL_PAGE_INDEX(control_group, control_index) < PX4IO_RC_INPUT_CHANNELS) {
if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) {
control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]);
break;
} else if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS) {