From 4aa0756d08f368a7a1c9caa9416cc9c7b1ce8229 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 3 Nov 2021 12:02:52 +0100 Subject: [PATCH] ManualControlSelector: correct parameter for any source according to documentation --- src/modules/manual_control/ManualControlSelector.cpp | 2 +- src/modules/manual_control/ManualControlSelectorTest.cpp | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/manual_control/ManualControlSelector.cpp b/src/modules/manual_control/ManualControlSelector.cpp index d3a6ca9aa7..8b31b66862 100644 --- a/src/modules/manual_control/ManualControlSelector.cpp +++ b/src/modules/manual_control/ManualControlSelector.cpp @@ -72,7 +72,7 @@ bool ManualControlSelector::isInputValid(const manual_control_setpoint_s &input, || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_3 || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_4 || input.data_source == manual_control_setpoint_s::SOURCE_MAVLINK_5); - const bool source_any_matched = (_rc_in_mode == 3); + const bool source_any_matched = (_rc_in_mode == 2); return sample_from_the_past && sample_newer_than_timeout && (source_rc_matched || source_mavlink_matched || source_any_matched); diff --git a/src/modules/manual_control/ManualControlSelectorTest.cpp b/src/modules/manual_control/ManualControlSelectorTest.cpp index 01a4e88647..e860128dc7 100644 --- a/src/modules/manual_control/ManualControlSelectorTest.cpp +++ b/src/modules/manual_control/ManualControlSelectorTest.cpp @@ -131,7 +131,7 @@ TEST(ManualControlSelector, MavlinkInputOnly) TEST(ManualControlSelector, AutoInput) { ManualControlSelector selector; - selector.setRcInMode(3); + selector.setRcInMode(2); selector.setTimeout(500_ms); uint64_t timestamp = some_time;