diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 15:42:23 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-04-05 15:42:23 +0400 |
| commit | 77190f5052405ba8ef10c89f3193802d3d59e66f (patch) | |
| tree | 2d6a1ac8bf2afb48db3f19d5393a27e4e610d4f9 /src/modules/sensors/sensors.cpp | |
| parent | 568eb8962d3ab5798a5048047da75b696e0a3af9 (diff) | |
| download | px4-firmware-77190f5052405ba8ef10c89f3193802d3d59e66f.tar.gz px4-firmware-77190f5052405ba8ef10c89f3193802d3d59e66f.tar.bz2 px4-firmware-77190f5052405ba8ef10c89f3193802d3d59e66f.zip | |
sensors: bug fixed
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 2c1b1258c..37255c4bf 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1327,9 +1327,10 @@ Sensors::rc_poll() /* check flags and require at least four channels to consider the signal valid */ if (!(rc_input.rc_lost || rc_input.rc_failsafe || rc_input.channel_count < 4)) { /* signal looks good, but check for throttle failsafe */ - if (_parameters.rc_fs_thr == 0 || - !((_parameters.rc_fs_thr < _parameters.min[i] && rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr) || - (_parameters.rc_fs_thr > _parameters.max[i] && rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) { + int8_t thr_ch = _rc.function[THROTTLE]; + if (_parameters.rc_fs_thr == 0 || thr_ch < 0 || + !((_parameters.rc_fs_thr < _parameters.min[thr_ch] && rc_input.values[thr_ch] < _parameters.rc_fs_thr) || + (_parameters.rc_fs_thr > _parameters.max[thr_ch] && rc_input.values[thr_ch] > _parameters.rc_fs_thr))) { /* valid signal, throttle failsafe not configured or not triggered */ signal_lost = false; } |