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FMU: Fix rc lost flag handing

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This commit is contained in:
Lorenz Meier 2016-05-01 16:24:33 +02:00
parent bdd2070dd7
commit 34081c1d3c
1 changed files with 4 additions and 1 deletions
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5
src/drivers/px4fmu/fmu.cpp
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@ -844,6 +844,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
for (unsigned i = 0; i < _rc_in.channel_count; i++) {
_rc_in.values[i] = raw_rc_values[i];
if (raw_rc_values[i] != UINT16_MAX) {
valid_chans++;
}
@ -863,6 +864,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
if (_rc_in.rssi > 100) {
_rc_in.rssi = 100;
}
} else {
_rc_in.rssi =
(!frame_drop) ? RC_INPUT_RSSI_MAX : (RC_INPUT_RSSI_MAX / 2);
@ -877,7 +879,7 @@ PX4FMU::fill_rc_in(uint16_t raw_rc_count,
}
_rc_in.rc_failsafe = failsafe;
_rc_in.rc_lost = (valid_chans > 0);
_rc_in.rc_lost = (valid_chans == 0);
_rc_in.rc_lost_frame_count = frame_drops;
_rc_in.rc_total_frame_count = 0;
}
@ -1211,6 +1213,7 @@ PX4FMU::cycle()
}
}
}
#endif
bool rc_updated = false;