From 73d04f7a37ba52ce1891e740db554557bd71940a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 5 Apr 2014 11:15:22 +0200 Subject: [PATCH] px4io driver: Only publish RC signal if it was at least once valid. --- src/drivers/px4io/px4io.cpp | 8 +++++--- 1 file changed, 5 insertions(+), 3 deletions(-) diff --git a/src/drivers/px4io/px4io.cpp b/src/drivers/px4io/px4io.cpp index 2c00785038..8eee1cbca0 100644 --- a/src/drivers/px4io/px4io.cpp +++ b/src/drivers/px4io/px4io.cpp @@ -1479,9 +1479,11 @@ PX4IO::io_publish_raw_rc() } else { rc_val.input_source = RC_INPUT_SOURCE_UNKNOWN; - /* we do not know the RC input, but have to publish timestamp_published - * and rc_lost flag, so do not prematurely return here - */ + /* only keep publishing RC input if we ever got a valid input */ + if (_rc_last_valid == 0) { + /* we have never seen valid RC signals, abort */ + return OK; + } } /* lazily advertise on first publication */