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| author | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-11 16:57:19 +0100 |
|---|---|---|
| committer | Thomas Gubler <thomasgubler@gmail.com> | 2013-12-13 20:34:10 +0100 |
| commit | 4ab7ac67a5a7ab66e5a6d452630691e3fbefc478 (patch) | |
| tree | ca2d449557c755a5bbc749e6a929735a4578d794 | |
| parent | 2fb493e639bb78d862529062dedb79b97c96a769 (diff) | |
| download | px4-firmware-4ab7ac67a5a7ab66e5a6d452630691e3fbefc478.tar.gz px4-firmware-4ab7ac67a5a7ab66e5a6d452630691e3fbefc478.tar.bz2 px4-firmware-4ab7ac67a5a7ab66e5a6d452630691e3fbefc478.zip | |
px4iofirmware: improve check for rc controlled channels in manual mode
| -rw-r--r-- | src/modules/px4iofirmware/mixer.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/px4iofirmware/mixer.cpp b/src/modules/px4iofirmware/mixer.cpp index fdf01e09c..9fc86db5e 100644 --- a/src/modules/px4iofirmware/mixer.cpp +++ b/src/modules/px4iofirmware/mixer.cpp @@ -258,7 +258,7 @@ mixer_callback(uintptr_t handle, return -1; case MIX_OVERRIDE: - if ((r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) && CONTROL_PAGE_INDEX(control_group, control_index) < PX4IO_RC_INPUT_CHANNELS) { + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) { control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); break; } @@ -266,7 +266,7 @@ mixer_callback(uintptr_t handle, case MIX_OVERRIDE_FMU_OK: /* FMU is ok but we are in override mode, use direct rc control for the available rc channels. The remaining channels are still controlled by the fmu */ - if ((r_page_rc_input[PX4IO_P_RC_VALID] & (1 << control_index)) && CONTROL_PAGE_INDEX(control_group, control_index) < PX4IO_RC_INPUT_CHANNELS) { + if (r_page_rc_input[PX4IO_P_RC_VALID] & (1 << CONTROL_PAGE_INDEX(control_group, control_index))) { control = REG_TO_FLOAT(r_page_rc_input[PX4IO_P_RC_BASE + control_index]); break; } else if (control_index < PX4IO_CONTROL_CHANNELS && control_group < PX4IO_CONTROL_GROUPS) { |