diff options
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 10 |
1 files changed, 5 insertions, 5 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index 796c6cd9f..5c621cfb2 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -108,9 +108,11 @@ controls_tick() { perf_end(c_gather_dsm); perf_begin(c_gather_sbus); - bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count); - if (sbus_updated) + bool sbus_updated = sbus_input(r_raw_rc_values, &r_raw_rc_count, PX4IO_CONTROL_CHANNELS /* XXX this should be INPUT channels, once untangled */); + if (sbus_updated) { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_SBUS; + r_raw_rc_count = 8; + } perf_end(c_gather_sbus); /* @@ -124,8 +126,6 @@ controls_tick() { r_status_flags |= PX4IO_P_STATUS_FLAGS_RC_PPM; perf_end(c_gather_ppm); - ASSERT(r_raw_rc_count <= PX4IO_CONTROL_CHANNELS); - /* * In some cases we may have received a frame, but input has still * been lost. @@ -286,7 +286,7 @@ controls_tick() { * requested override. * */ - if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) > RC_CHANNEL_HIGH_THRESH)) + if ((r_status_flags & PX4IO_P_STATUS_FLAGS_RC_OK) && (REG_TO_SIGNED(r_rc_values[4]) < RC_CHANNEL_LOW_THRESH)) override = true; if (override) { |