RC_Channel: understand ignore-receiver when reading rc inputs#32488
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rmackay9 merged 3 commits intoArduPilot:masterfrom Mar 31, 2026
Merged
RC_Channel: understand ignore-receiver when reading rc inputs#32488rmackay9 merged 3 commits intoArduPilot:masterfrom
rmackay9 merged 3 commits intoArduPilot:masterfrom
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peterbarker
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I broke this in #26164 So a regression from 4.5.7 I've added the autotest I used to bisect it. |
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throttle-down won't have an effect. Throttle-up *might* have an effect, so we need to protect against that. We want to leave the vehicle at zero throttle after the RTL IMO, and zero is a better choice than middle while we *are* doing RTL throttle-down won't have an effect. Throttle-up *might* have an effect, so we need to protect against that. We want to leave the vehicle at zero throttle after the RTL IMO, and zero is a reasonable choice while we *are* doing RTL.
previously this option only gated whether we read data from the HAL into our radio_in state. but that would mean read_input would still return true, even if we didn't actually read data from the receiver into the radio state. And that means everything in (e.g. Copter::read_radio thinks we have good channel data when we absolutely do not, meaning has_valid_input is true. Which is bad.
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The test modifications all pass before this change - with the exception of the test added in this PR: peterbarker#34 |
tridge
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Mar 31, 2026
rmackay9
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Mar 31, 2026
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Summary
Corrects problem where we consume invalid channel values when throttle-failsafe is ignored but we also have RC_OPTIONS set to 1 to ignore the receiver
Testing (more checks increases chance of being merged)
Description
previously this option only gated whether we read data from the HAL into our radio_in state.
but that would mean read_input would still return true, even if we didn't actually read data from the receiver into the radio state. And that means everything in (e.g. Copter::read_radio thinks we have good channel data when we absolutely do not, meaning has_valid_input is true. Which is bad.