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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 10:49:52 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-12-01 10:49:52 +0100 |
| commit | de88732e8ecdf1f8451c8c037594f4edb1e2bdc0 (patch) | |
| tree | af6d877598c23ce8f64be56362a8e7964477a9ce /apps/drivers | |
| parent | ea8872f5456dbba566fb4167ec66b4afa183b3e1 (diff) | |
| download | px4-firmware-de88732e8ecdf1f8451c8c037594f4edb1e2bdc0.tar.gz px4-firmware-de88732e8ecdf1f8451c8c037594f4edb1e2bdc0.tar.bz2 px4-firmware-de88732e8ecdf1f8451c8c037594f4edb1e2bdc0.zip | |
Prevented unhealthy RC input from propagating through the system
Diffstat (limited to 'apps/drivers')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 18 |
1 files changed, 10 insertions, 8 deletions
diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 49ad80943..296c541c9 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -461,15 +461,17 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) } _connected = true; - /* publish raw rc channel values from IO */ - _input_rc.timestamp = hrt_absolute_time(); - _input_rc.channel_count = rep->channel_count; - for (int i = 0; i < rep->channel_count; i++) - { - _input_rc.values[i] = rep->rc_channel[i]; - } + /* publish raw rc channel values from IO if valid channels are present */ + if (rep->channel_count > 0) { + _input_rc.timestamp = hrt_absolute_time(); + _input_rc.channel_count = rep->channel_count; + for (int i = 0; i < rep->channel_count; 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 */ _switch_armed = rep->armed; |