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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:02:17 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-01 11:02:17 +0100 |
| commit | 5828f49c60138497b5fba4266133a0caea745d72 (patch) | |
| tree | f5150b322f0a39331c4caecf100549552f48346c /src/modules/sensors | |
| parent | 1821af2c80e46c08cca1c1d8957bed359af4417e (diff) | |
| parent | 8660ea914a0410a3503653767efb09adc1cedff2 (diff) | |
| download | px4-firmware-5828f49c60138497b5fba4266133a0caea745d72.tar.gz px4-firmware-5828f49c60138497b5fba4266133a0caea745d72.tar.bz2 px4-firmware-5828f49c60138497b5fba4266133a0caea745d72.zip | |
Merge branch 'beta' into offboard2
Diffstat (limited to 'src/modules/sensors')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 9 |
1 files changed, 6 insertions, 3 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index f99e9d8bb..8f488a8e5 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1270,6 +1270,9 @@ Sensors::rc_poll() orb_copy(ORB_ID(input_rc), _rc_sub, &rc_input); + if (rc_input.rc_lost) + return; + struct manual_control_setpoint_s manual_control; struct actuator_controls_s actuator_group_3; @@ -1314,7 +1317,7 @@ Sensors::rc_poll() channel_limit = _rc_max_chan_count; /* we are accepting this message */ - _rc_last_valid = rc_input.timestamp; + _rc_last_valid = rc_input.timestamp_last_signal; /* Read out values from raw message */ for (unsigned int i = 0; i < channel_limit; i++) { @@ -1363,9 +1366,9 @@ Sensors::rc_poll() } _rc.chan_count = rc_input.channel_count; - _rc.timestamp = rc_input.timestamp; + _rc.timestamp = rc_input.timestamp_last_signal; - manual_control.timestamp = rc_input.timestamp; + manual_control.timestamp = rc_input.timestamp_last_signal; /* roll input - rolling right is stick-wise and rotation-wise positive */ manual_control.roll = limit_minus_one_to_one(_rc.chan[_rc.function[ROLL]].scaled); |