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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-25 16:33:14 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-08-25 16:33:14 +0200 |
| commit | e119bbb0f1161c71b8c2dcbbbc150d40b356c4b1 (patch) | |
| tree | ef0df7d1ab1a9b2436c1ce16c5a1eeb0aa7706c0 /src/modules/commander/commander.cpp | |
| parent | 8df6acbfaff69339a12f69460d92201d5b88045e (diff) | |
| download | px4-firmware-e119bbb0f1161c71b8c2dcbbbc150d40b356c4b1.tar.gz px4-firmware-e119bbb0f1161c71b8c2dcbbbc150d40b356c4b1.tar.bz2 px4-firmware-e119bbb0f1161c71b8c2dcbbbc150d40b356c4b1.zip | |
A lot more on calibration and RC checks. Needs more testing, but no known issues
Diffstat (limited to 'src/modules/commander/commander.cpp')
| -rw-r--r-- | src/modules/commander/commander.cpp | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index 3654839fb..e3d314881 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -84,6 +84,7 @@ #include <systemlib/systemlib.h> #include <systemlib/err.h> #include <systemlib/cpuload.h> +#include <systemlib/rc_check.h> #include "px4_custom_mode.h" #include "commander_helper.h" @@ -617,6 +618,8 @@ int commander_thread_main(int argc, char *argv[]) bool updated = false; + bool rc_calibration_ok = (OK == rc_calibration_check()); + /* Subscribe to safety topic */ int safety_sub = orb_subscribe(ORB_ID(safety)); memset(&safety, 0, sizeof(safety)); @@ -727,6 +730,9 @@ int commander_thread_main(int argc, char *argv[]) param_get(_param_system_id, &(status.system_id)); param_get(_param_component_id, &(status.component_id)); status_changed = true; + + /* Re-check RC calibration */ + rc_calibration_ok = (OK == rc_calibration_check()); } } |