diff options
| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:28:07 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:28:07 +0200 |
| commit | 3b5e6f98338fded2cbe7be1c301dc2698f7239aa (patch) | |
| tree | 4840dab377589cfdf1558fb4d5b41d1f0bb6ac43 /src/modules/sensors/sensors.cpp | |
| parent | ce504297690ea11032e465c96aa96a00dd4be2bc (diff) | |
| download | px4-firmware-3b5e6f98338fded2cbe7be1c301dc2698f7239aa.tar.gz px4-firmware-3b5e6f98338fded2cbe7be1c301dc2698f7239aa.tar.bz2 px4-firmware-3b5e6f98338fded2cbe7be1c301dc2698f7239aa.zip | |
sensors and px4io driver: Guard against failsafe trigger for inverted remotes
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 4c34d853f..44a91ca67 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -263,7 +263,7 @@ private: float rc_scale_yaw; float rc_scale_flaps; - float rc_fs_thr; + int32_t rc_fs_thr; float battery_voltage_scaling; float battery_current_scaling; @@ -527,7 +527,7 @@ Sensors::Sensors() : _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); /* RC failsafe */ - _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + _parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -1309,8 +1309,8 @@ Sensors::rc_poll() } /* check for failsafe */ - if (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) - || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) { + if (_parameters.rc_fs_thr && (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr)))) { /* do not publish manual control setpoints when there are none */ return; } |