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Fix logic for S.Bus failsafe detection

This commit is contained in:
Lorenz Meier 2014-04-05 16:05:58 +02:00
parent 3b5e6f9833
commit 671d35f67c
1 changed files with 2 additions and 2 deletions
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4
src/modules/sensors/sensors.cpp
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@ -1309,8 +1309,8 @@ Sensors::rc_poll()
}
/* check for failsafe */
if (_parameters.rc_fs_thr && (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr)))) {
if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr))
|| ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))))) {
/* do not publish manual control setpoints when there are none */
return;
}