Merge branch 'master' of github.com:PX4/Firmware into paul_estimator

2 files changed, 15 insertions, 13 deletions

diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp
index 2a2bcca72..882e39451 100644
--- a/src/modules/commander/commander.cpp
+++ b/src/modules/commander/commander.cpp
@@ -1403,7 +1403,7 @@ check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_sta
 {
 	/* main mode switch */
 	if (!isfinite(sp_man->mode_switch)) {
-		warnx("mode sw not finite");
+		/* default to manual if signal is invalid */
 		current_status->mode_switch = MODE_SWITCH_MANUAL;
 
 	} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
@@ -1864,6 +1864,10 @@ void *commander_low_prio_loop(void *arg)
 				break;
 			}
 
+		case VEHICLE_CMD_START_RX_PAIR:
+		/* handled in the IO driver */
+		break;
+
 		default:
 			answer_command(cmd, VEHICLE_CMD_RESULT_UNSUPPORTED);
 			break;
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index 96f96d5a5..46eb7cc85 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -1406,18 +1406,6 @@ Sensors::rc_poll()
 			manual_control.yaw *= _parameters.rc_scale_yaw;
 		}
 
-		/* mode switch input */
-		manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled);
-
-		/* land switch input */
-		manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
-
-		/* assisted switch input */
-		manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
-
-		/* mission switch input */
-		manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
-
 		/* flaps */
 		if (_rc.function[FLAPS] >= 0) {
 
@@ -1436,6 +1424,16 @@ Sensors::rc_poll()
 			manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled);
 		}
 
+		/* land switch input */
+		if (_rc.function[RETURN] >= 0) {
+			manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled);
+		}
+
+		/* assisted switch input */
+		if (_rc.function[ASSISTED] >= 0) {
+			manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled);
+		}
+
 //		if (_rc.function[OFFBOARD_MODE] >= 0) {
 //			manual_control.auto_offboard_input_switch = limit_minus_one_to_one(_rc.chan[_rc.function[OFFBOARD_MODE]].scaled);
 //		}