From a47942f54c8f863d55f1903d137b6a7b7bf6d795 Mon Sep 17 00:00:00 2001
From: Lorenz Meier <lm@inf.ethz.ch>
Date: Mon, 30 Dec 2013 00:15:33 +0100
Subject: [PATCH] Only emit signals for valid ranges

---
 src/uas/UAS.cc | 48 ++++++++++++++++++++++++++++++++----------------
 1 file changed, 32 insertions(+), 16 deletions(-)

diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc
index 80ca3694c..f9703964e 100644
--- a/src/uas/UAS.cc
+++ b/src/uas/UAS.cc
@@ -1005,14 +1005,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             const unsigned int portWidth = 8; // XXX magic number
 
             emit remoteControlRSSIChanged(channels.rssi/255.0f);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
-            emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
+            if (channels.chan1_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 0, channels.chan1_raw);
+            if (channels.chan2_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 1, channels.chan2_raw);
+            if (channels.chan3_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 2, channels.chan3_raw);
+            if (channels.chan4_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 3, channels.chan4_raw);
+            if (channels.chan5_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 4, channels.chan5_raw);
+            if (channels.chan6_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 5, channels.chan6_raw);
+            if (channels.chan7_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 6, channels.chan7_raw);
+            if (channels.chan8_raw != UINT16_MAX)
+                emit remoteControlChannelRawChanged(channels.port * portWidth + 7, channels.chan8_raw);
         }
             break;
         case MAVLINK_MSG_ID_RC_CHANNELS_SCALED:
@@ -1023,14 +1031,22 @@ void UAS::receiveMessage(LinkInterface* link, mavlink_message_t message)
             const unsigned int portWidth = 8; // XXX magic number
 
             emit remoteControlRSSIChanged(channels.rssi/255.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
-            emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
+            if (channels.chan1_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 0, channels.chan1_scaled/10000.0f);
+            if (channels.chan2_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 1, channels.chan2_scaled/10000.0f);
+            if (channels.chan3_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 2, channels.chan3_scaled/10000.0f);
+            if (channels.chan4_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 3, channels.chan4_scaled/10000.0f);
+            if (channels.chan5_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 4, channels.chan5_scaled/10000.0f);
+            if (channels.chan6_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 5, channels.chan6_scaled/10000.0f);
+            if (channels.chan7_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 6, channels.chan7_scaled/10000.0f);
+            if (channels.chan8_scaled != UINT16_MAX)
+                emit remoteControlChannelScaledChanged(channels.port * portWidth + 7, channels.chan8_scaled/10000.0f);
         }
             break;
         case MAVLINK_MSG_ID_PARAM_VALUE:
-- 
2.22.0