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HAL_PX4: implement updated new_input() semantics

mission-4.1.18
Andrew Tridgell 10 years ago
parent
commit
f548d48fdc
  1. 4
      libraries/AP_HAL_PX4/RCInput.cpp

4
libraries/AP_HAL_PX4/RCInput.cpp

@ -24,6 +24,8 @@ bool PX4RCInput::new_input()
{ {
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid; bool valid = _rcin.timestamp_last_signal != _last_read || _override_valid;
_last_read = _rcin.timestamp_last_signal;
_override_valid = false;
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);
return valid; return valid;
} }
@ -42,8 +44,6 @@ uint16_t PX4RCInput::read(uint8_t ch)
return 0; return 0;
} }
pthread_mutex_lock(&rcin_mutex); pthread_mutex_lock(&rcin_mutex);
_last_read = _rcin.timestamp_last_signal;
_override_valid = false;
if (_override[ch]) { if (_override[ch]) {
uint16_t v = _override[ch]; uint16_t v = _override[ch];
pthread_mutex_unlock(&rcin_mutex); pthread_mutex_unlock(&rcin_mutex);

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