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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 | |
| 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')
| -rw-r--r-- | apps/drivers/px4io/px4io.cpp | 18 | ||||
| -rw-r--r-- | apps/px4io/comms.c | 8 |
2 files changed, 17 insertions, 9 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; diff --git a/apps/px4io/comms.c b/apps/px4io/comms.c index 375336730..40ea38cf7 100644 --- a/apps/px4io/comms.c +++ b/apps/px4io/comms.c @@ -132,7 +132,13 @@ comms_main(void) /* populate the report */ for (int i = 0; i < system_state.rc_channels; 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; /* and send it */ |