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only publish input_rc, if the IO RC status in ok

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Claudio Chies 2025-07-18 08:34:42 +02:00 committed by Hamish Willee
parent 324b305b2d
commit f42dbeef82
1 changed files with 4 additions and 1 deletions
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5
src/drivers/px4io/px4io.cpp
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@ -1030,7 +1030,10 @@ int PX4IO::io_publish_raw_rc()
const bool rc_updated = (rc_valid_update_count != _rc_valid_update_count);
_rc_valid_update_count = rc_valid_update_count;
if (!rc_updated) {
// only publish if the IO status indicates that the RC is OK
const uint16_t status_rc_ok = _status & PX4IO_P_STATUS_FLAGS_RC_OK;
if (!rc_updated | !status_rc_ok) {
return 0;
}