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drivers/rc_input: don't accept RX_PAIR cmd when armed

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This commit is contained in:
Daniel Agar
2021-03-24 15:13:38 -04:00
parent 435ef38eda
commit 2d6deb4f1c
2 changed files with 55 additions and 46 deletions
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src/drivers/rc_input/RCInput.hpp
+5 -9
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@@ -59,6 +59,7 @@
#include <uORB/topics/input_rc.h>
#include <uORB/topics/parameter_update.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_status.h>
#include "crsf_telemetry.h"
#include "ghst_telemetry.hpp"
@@ -125,14 +126,6 @@ private:
void rc_io_invert(bool invert);
/**
* Respond to a vehicle command with an ACK message
*
* @param cmd The command that was executed or denied (inbound)
* @param result The command result
*/
void answer_command(const vehicle_command_s &cmd, uint8_t result);
hrt_abstime _rc_scan_begin{0};
bool _initialized{false};
@@ -143,14 +136,17 @@ private:
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _adc_report_sub{ORB_ID(adc_report)};
uORB::Subscription _vehicle_cmd_sub{ORB_ID(vehicle_command)};
uORB::Subscription _adc_sub{ORB_ID(adc_report)};
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
input_rc_s _rc_in{};
float _analog_rc_rssi_volt{-1.0f};
bool _analog_rc_rssi_stable{false};
bool _armed{false};
uORB::PublicationMulti<input_rc_s> _to_input_rc{ORB_ID(input_rc)};