From 64fa20a3e45977a2ab764e64ab8777b7c6782a50 Mon Sep 17 00:00:00 2001
From: Don Gagne <don@thegagnes.com>
Date: Sun, 15 Mar 2015 13:32:43 -0700
Subject: [PATCH] Validate RC_CHAN_COUNT

---
 src/AutoPilotPlugins/PX4/FlightModesComponentController.cc | 6 +++++-
 1 file changed, 5 insertions(+), 1 deletion(-)

diff --git a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
index ef5c346f8f..d6cace7d1c 100644
--- a/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
+++ b/src/AutoPilotPlugins/PX4/FlightModesComponentController.cc
@@ -69,7 +69,11 @@ void FlightModesComponentController::_validateConfiguration(void)
 {
     _validConfiguration = true;
     
-    _channelCount = _autoPilotPlugin->factExists("RC_CHAN_CNT") ? _autoPilotPlugin->getFact("RC_CHAN_CNT")->value().toInt() : 18;
+    _channelCount = _autoPilotPlugin->factExists("RC_CHAN_CNT") ? _autoPilotPlugin->getFact("RC_CHAN_CNT")->value().toInt() : _chanMax;
+    if (_channelCount <= 0 || _channelCount > _chanMax) {
+        // Parameter exists, but has not yet been set or is invalid. Use default
+        _channelCount = _chanMax;
+    }
     
     // Make sure switches are valid and within channel range
     
-- 
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