diff options
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 30 |
1 files changed, 9 insertions, 21 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index f890c4c7f..b171b995d 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -263,9 +263,7 @@ private: float rc_scale_yaw; float rc_scale_flaps; - int rc_fs_ch; - int rc_fs_mode; - float rc_fs_thr; + int32_t rc_fs_thr; float battery_voltage_scaling; float battery_current_scaling; @@ -313,8 +311,6 @@ private: param_t rc_scale_yaw; param_t rc_scale_flaps; - param_t rc_fs_ch; - param_t rc_fs_mode; param_t rc_fs_thr; param_t battery_voltage_scaling; @@ -531,9 +527,7 @@ Sensors::Sensors() : _parameter_handles.rc_scale_flaps = param_find("RC_SCALE_FLAPS"); /* RC failsafe */ - _parameter_handles.rc_fs_ch = param_find("RC_FS_CH"); - _parameter_handles.rc_fs_mode = param_find("RC_FS_MODE"); - _parameter_handles.rc_fs_thr = param_find("RC_FS_THR"); + _parameter_handles.rc_fs_thr = param_find("RC_FAILS_THR"); /* gyro offsets */ _parameter_handles.gyro_offset[0] = param_find("SENS_GYRO_XOFF"); @@ -689,8 +683,6 @@ Sensors::parameters_update() param_get(_parameter_handles.rc_scale_pitch, &(_parameters.rc_scale_pitch)); param_get(_parameter_handles.rc_scale_yaw, &(_parameters.rc_scale_yaw)); param_get(_parameter_handles.rc_scale_flaps, &(_parameters.rc_scale_flaps)); - param_get(_parameter_handles.rc_fs_ch, &(_parameters.rc_fs_ch)); - param_get(_parameter_handles.rc_fs_mode, &(_parameters.rc_fs_mode)); param_get(_parameter_handles.rc_fs_thr, &(_parameters.rc_fs_thr)); /* update RC function mappings */ @@ -1312,19 +1304,15 @@ Sensors::rc_poll() manual_control.aux5 = NAN; /* require at least four channels to consider the signal valid */ - if (rc_input.channel_count < 4) + if (rc_input.channel_count < 4) { return; + } - /* failsafe check */ - if (_parameters.rc_fs_ch != 0) { - if (_parameters.rc_fs_mode == 0) { - if (rc_input.values[_parameters.rc_fs_ch - 1] < _parameters.rc_fs_thr) - return; - - } else if (_parameters.rc_fs_mode == 1) { - if (rc_input.values[_parameters.rc_fs_ch - 1] > _parameters.rc_fs_thr) - return; - } + /* check for failsafe */ + if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[_rc.function[THROTTLE]]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))))) { + /* do not publish manual control setpoints when there are none */ + return; } unsigned channel_limit = rc_input.channel_count; |