diff options
Diffstat (limited to 'src/modules/commander/rc_calibration.cpp')
| -rw-r--r-- | src/modules/commander/rc_calibration.cpp | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/modules/commander/rc_calibration.cpp b/src/modules/commander/rc_calibration.cpp index 9fc1d6470..90ede499a 100644 --- a/src/modules/commander/rc_calibration.cpp +++ b/src/modules/commander/rc_calibration.cpp @@ -57,14 +57,16 @@ int do_rc_calibration(int mavlink_fd) { mavlink_log_info(mavlink_fd, "trim calibration starting"); - /* XXX fix this */ - // if (current_status.rc_signal) { - // mavlink_log_critical(mavlink_fd, "TRIM CAL: ABORT. No RC signal."); - // return; - // } - int sub_man = orb_subscribe(ORB_ID(manual_control_setpoint)); struct manual_control_setpoint_s sp; + bool changed; + orb_check(sub_man, &changed); + + if (!changed) { + mavlink_log_critical(mavlink_fd, "no manual control, aborting"); + return ERROR; + } + orb_copy(ORB_ID(manual_control_setpoint), sub_man, &sp); /* set parameters */ |