From e1356f69b4a0c6c5cc8eaacb83f7c2791406d747 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 1 Feb 2014 19:01:05 +0100 Subject: Hotfix: Check all channel mappings for valid ranges --- src/modules/sensors/sensors.cpp | 30 ++++++++++-------------------- 1 file changed, 10 insertions(+), 20 deletions(-) diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index f98c79cd2..b50a694eb 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1405,26 +1405,6 @@ Sensors::rc_poll() manual_control.yaw *= _parameters.rc_scale_yaw; } - /* mode switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.mode_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MODE]].scaled); - } - - /* land switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.return_switch = limit_minus_one_to_one(_rc.chan[_rc.function[RETURN]].scaled); - } - - /* assisted switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.assisted_switch = limit_minus_one_to_one(_rc.chan[_rc.function[ASSISTED]].scaled); - } - - /* mission switch input */ - if (_rc.function[MODE] >= 0) { - manual_control.mission_switch = limit_minus_one_to_one(_rc.chan[_rc.function[MISSION]].scaled); - } - /* flaps */ if (_rc.function[FLAPS] >= 0) { @@ -1443,6 +1423,16 @@ 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); // } -- cgit v1.2.3