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sensors: bug fixed

This commit is contained in:
Anton Babushkin 2014-04-05 15:42:23 +04:00
parent 568eb8962d
commit 77190f5052
1 changed files with 4 additions and 3 deletions
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7
src/modules/sensors/sensors.cpp
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@ -1327,9 +1327,10 @@ Sensors::rc_poll()
/* check flags and require at least four channels to consider the signal valid */
if (!(rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4)) {
/* signal looks good, but check for throttle failsafe */
if (_parameters.rc_fs_thr == 0 ||
!((_parameters.rc_fs_thr < _parameters.min[i] && rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr) ||
(_parameters.rc_fs_thr > _parameters.max[i] && rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) {
int8_t thr_ch = _rc.function[THROTTLE];
if (_parameters.rc_fs_thr == 0 || thr_ch < 0 ||
!((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) ||
(_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr))) {
/* valid signal, throttle failsafe not configured or not triggered */
signal_lost = false;
}