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author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 10:28:01 +0200 |
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committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 10:28:01 +0200 |
commit | 64ffafb48ee45452070dfb37be8d0de6098915a8 (patch) | |
tree | 5ded47271fa3d6b94ca139339400677df0fda607 /src/drivers/px4io | |
parent | c6d98a32f83383e6204fd6cefbfcc1fd7e1cf159 (diff) | |
download | px4-firmware-64ffafb48ee45452070dfb37be8d0de6098915a8.tar.gz px4-firmware-64ffafb48ee45452070dfb37be8d0de6098915a8.tar.bz2 px4-firmware-64ffafb48ee45452070dfb37be8d0de6098915a8.zip |
Only publish RC inputs if we have seen some valid inputs at some point
Diffstat (limited to 'src/drivers/px4io')
-rw-r--r-- | src/drivers/px4io/px4io.cpp | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 2c0078503..8eee1cbca 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1479,9 +1479,11 @@ PX4IO::io_publish_raw_rc() } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; - /* we do not know the RC input, but have to publish timestamp_published - * and rc_lost flag, so do not prematurely return here - */ + /* only keep publishing RC input if we ever got a valid input */ + if (_rc_last_valid == 0) { + /* we have never seen valid RC signals, abort */ + return OK; + } } /* lazily advertise on first publication */ |