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Prevented unhealthy RC input from propagating through the system

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Lorenz Meier
2012-12-01 10:49:52 +01:00
parent ea8872f545
commit de88732e8e
2 changed files with 17 additions and 9 deletions
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apps/drivers/px4io/px4io.cpp
+10 -8
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@@ -461,15 +461,17 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received)
} }
_connected = true; _connected = true;
/* publish raw rc channel values from IO */ /* publish raw rc channel values from IO if valid channels are present */
_input_rc.timestamp = hrt_absolute_time(); if (rep->channel_count > 0) {
_input_rc.channel_count = rep->channel_count; _input_rc.timestamp = hrt_absolute_time();
for (int i = 0; i < rep->channel_count; i++) _input_rc.channel_count = rep->channel_count;
{ for (int i = 0; i < rep->channel_count; i++)
_input_rc.values[i] = rep->rc_channel[i]; {
} _input_rc.values[i] = rep->rc_channel[i];
}
orb_publish(ORB_ID(input_rc), _to_input_rc, &_input_rc); orb_publish(ORB_ID(input_rc), _to_input_rc, &_input_rc);
}
/* remember the latched arming switch state */ /* remember the latched arming switch state */
_switch_armed = rep->armed; _switch_armed = rep->armed;
apps/px4io/comms.c
+7 -1
View File
@@ -132,7 +132,13 @@ comms_main(void)
/* populate the report */ /* populate the report */
for (int i = 0; i < system_state.rc_channels; i++) for (int i = 0; i < system_state.rc_channels; i++)
report.rc_channel[i] = system_state.rc_channel_data[i]; report.rc_channel[i] = system_state.rc_channel_data[i];
report.channel_count = system_state.rc_channels;
if (system_state.sbus_input_ok || system_state.dsm_input_ok || system_state.ppm_input_ok) {
report.channel_count = system_state.rc_channels;
} else {
report.channel_count = 0;
}
report.armed = system_state.armed; report.armed = system_state.armed;
/* and send it */ /* and send it */