Fix flight mode channel not set bug

95f9b8fb · Don Gagne · 20458c5b · 95f9b8fb
Commit 95f9b8fb authored Jun 11, 2016 by Don Gagne
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PX4SimpleFlightModesController.cc src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc +6 -0

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--- a/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
+++ b/src/AutoPilotPlugins/PX4/PX4SimpleFlightModesController.cc
@@ -51,6 +51,12 @@ void PX4SimpleFlightModesController::_rcChannelsChanged(int channelCount, int pw
    }

    int flightModeChannel = pFact->rawValue().toInt() - 1;
+    if (flightModeChannel == -1) {
+        // Flight mode channel not set, can't track active flight mode
+        _activeFlightMode = 0;
+        emit activeFlightModeChanged(_activeFlightMode);
+        return;
+    }

    pFact = getParameterFact(-1, QString("RC%1_REV").arg(flightModeChannel + 1));
    if(!pFact) {