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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 16:05:58 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 16:05:58 +0200 |
| commit | 671d35f67ccae5c35ef4fcb573f5fa52395601c4 (patch) | |
| tree | 4517d1c88b29235f19bc6b164071f8cf123893a2 /src/modules | |
| parent | 3b5e6f98338fded2cbe7be1c301dc2698f7239aa (diff) | |
| download | px4-firmware-671d35f67ccae5c35ef4fcb573f5fa52395601c4.tar.gz px4-firmware-671d35f67ccae5c35ef4fcb573f5fa52395601c4.tar.bz2 px4-firmware-671d35f67ccae5c35ef4fcb573f5fa52395601c4.zip | |
Fix logic for S.Bus failsafe detection
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 44a91ca67..c91006262 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1309,8 +1309,8 @@ Sensors::rc_poll() } /* check for failsafe */ - 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)))) { + if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((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 _parameters.rc_fs_thr))))) { /* do not publish manual control setpoints when there are none */ return; } |