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Ensure that manual control is only sent by sensors app if signal is valid and initialized

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Lorenz Meier
2017-01-19 15:06:41 +01:00
committed by Lorenz Meier
parent b1c6494ed7
commit 63057d7b60
1 changed files with 4 additions and 3 deletions
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src/modules/sensors/rc_update.cpp
+4 -3
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@@ -349,8 +349,8 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
int instance;
orb_publish_auto(ORB_ID(rc_channels), &_rc_pub, &_rc, &instance, ORB_PRIO_DEFAULT);
/* only publish manual control if the signal is still present */
if (!signal_lost) {
/* only publish manual control if the signal is still present and was present once */
if (!signal_lost && rc_input.timestamp_last_signal > 0) {
/* initialize manual setpoint */
struct manual_control_setpoint_s manual = {};
@@ -358,6 +358,7 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
manual.mode_slot = manual_control_setpoint_s::MODE_SLOT_NONE;
/* set the timestamp to the last signal time */
manual.timestamp = rc_input.timestamp_last_signal;
manual.data_source = manual_control_setpoint_s::SOURCE_RC;
/* limit controls */
manual.y = get_rc_value(rc_channels_s::RC_CHANNELS_FUNCTION_ROLL, -1.0, 1.0);
@@ -425,7 +426,7 @@ RCUpdate::rc_poll(const ParameterHandles &parameter_handles)
/* publish manual_control_setpoint topic */
orb_publish_auto(ORB_ID(manual_control_setpoint), &_manual_control_pub, &manual, &instance,
ORB_PRIO_DEFAULT);
ORB_PRIO_HIGH);
/* copy from mapped manual control to control group 3 */
struct actuator_controls_s actuator_group_3 = {};