From de88732e8ecdf1f8451c8c037594f4edb1e2bdc0 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 1 Dec 2012 10:49:52 +0100 Subject: Prevented unhealthy RC input from propagating through the system --- apps/drivers/px4io/px4io.cpp | 18 ++++++++++-------- 1 file changed, 10 insertions(+), 8 deletions(-) (limited to 'apps/drivers') diff --git a/apps/drivers/px4io/px4io.cpp b/apps/drivers/px4io/px4io.cpp index 49ad80943..296c541c9 100644 --- a/apps/drivers/px4io/px4io.cpp +++ b/apps/drivers/px4io/px4io.cpp @@ -461,15 +461,17 @@ PX4IO::rx_callback(const uint8_t *buffer, size_t bytes_received) } _connected = true; - /* publish raw rc channel values from IO */ - _input_rc.timestamp = hrt_absolute_time(); - _input_rc.channel_count = rep->channel_count; - for (int i = 0; i < rep->channel_count; i++) - { - _input_rc.values[i] = rep->rc_channel[i]; - } + /* publish raw rc channel values from IO if valid channels are present */ + if (rep->channel_count > 0) { + _input_rc.timestamp = hrt_absolute_time(); + _input_rc.channel_count = rep->channel_count; + for (int i = 0; i < rep->channel_count; i++) + { + _input_rc.values[i] = rep->rc_channel[i]; + } - orb_publish(ORB_ID(input_rc), _to_input_rc, &_input_rc); + orb_publish(ORB_ID(input_rc), _to_input_rc, &_input_rc); + } /* remember the latched arming switch state */ _switch_armed = rep->armed; -- cgit v1.2.3