From 671d35f67ccae5c35ef4fcb573f5fa52395601c4 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 16:05:58 +0200 Subject: Fix logic for S.Bus failsafe detection --- src/modules/sensors/sensors.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules') diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 44a91ca67..c91006262 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1309,8 +1309,8 @@ Sensors::rc_poll() } /* check for failsafe */ - if (_parameters.rc_fs_thr && (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) - || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr)))) { + if ((rc_input.rc_failsafe) || ((_parameters.rc_fs_thr != 0) && (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))))) { /* do not publish manual control setpoints when there are none */ return; } -- cgit v1.2.3