From 79703c9c7ab9aa618ab577a9f2c5773c810ef9c9 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 24 Mar 2021 15:18:09 -0400 Subject: [PATCH] drivers/rc_input: don't resume scanning if armed --- src/drivers/rc_input/RCInput.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/drivers/rc_input/RCInput.cpp b/src/drivers/rc_input/RCInput.cpp index 106bedf461..0f2011152b 100644 --- a/src/drivers/rc_input/RCInput.cpp +++ b/src/drivers/rc_input/RCInput.cpp @@ -698,7 +698,7 @@ void RCInput::Run() _to_input_rc.publish(_rc_in); - } else if (!rc_updated && ((hrt_absolute_time() - _rc_in.timestamp_last_signal) > 1_s)) { + } else if (!rc_updated && !_armed && (hrt_elapsed_time(&_rc_in.timestamp_last_signal) > 1_s)) { _rc_scan_locked = false; }