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Hotfix: Check all channel mappings for valid ranges

This commit is contained in:
Lorenz Meier 2014-02-01 19:01:05 +01:00
parent 14bbecfd7a
commit e1356f69b4
1 changed files with 10 additions and 20 deletions
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30
src/modules/sensors/sensors.cpp
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@ -1405,26 +1405,6 @@ Sensors::rc_poll()
manual_control.yaw *= _parameters.rc_scale_yaw;
}
/* mode switch input */
if (_rc.function[MODE] >= 0) {
manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
}
/* land switch input */
if (_rc.function[MODE] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
/* assisted switch input */
if (_rc.function[MODE] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
/* mission switch input */
if (_rc.function[MODE] >= 0) {
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* flaps */
if (_rc.function[FLAPS] >= 0) {
@ -1443,6 +1423,16 @@ Sensors::rc_poll()
manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
}
/* land switch input */
if (_rc.function[RETURN] >= 0) {
manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
}
/* assisted switch input */
if (_rc.function[ASSISTED] >= 0) {
manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
}
// if (_rc.function[OFFBOARD_MODE] >= 0) {
// manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
// }