[paparazzi-commits] [5198] Only populate radio data in passthrough if the stm flags it as valid

[Allen Ibara]

Revision: 5198
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5198
Author:   aibara
Date:     2010-08-02 23:39:45 +0000 (Mon, 02 Aug 2010)
Log Message:
-----------
Only populate radio data in passthrough if the stm flags it as valid

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c

Modified: paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c
===================================================================
--- paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-08-02 
23:39:10 UTC (rev 5197)
+++ paparazzi3/trunk/sw/airborne/fms/fms_spi_autopilot_msg.c    2010-08-02 
23:39:45 UTC (rev 5198)
@@ -107,18 +107,17 @@
     pressure_callback(0, 0, 0);
 
   // Fill radio data
-  radio_control.values[RADIO_CONTROL_ROLL] = msg_up->rc_roll;
-  radio_control.values[RADIO_CONTROL_PITCH] = msg_up->rc_pitch;
-  radio_control.values[RADIO_CONTROL_YAW] = msg_up->rc_yaw;
-  radio_control.values[RADIO_CONTROL_THROTTLE] = msg_up->rc_thrust;
-  radio_control.values[RADIO_CONTROL_MODE] = msg_up->rc_mode;
-  radio_control.values[RADIO_CONTROL_KILL] = msg_up->rc_kill;
-  radio_control.values[RADIO_CONTROL_GEAR] = msg_up->rc_gear;
-  radio_control.values[RADIO_CONTROL_AUX3] = msg_up->rc_aux3;
-  radio_control.values[RADIO_CONTROL_AUX4] = msg_up->rc_aux4;
-  radio_control.status = msg_up->rc_status;
-  
   if (msg_up->valid.rc && radio_control_callback)
+    radio_control.values[RADIO_CONTROL_ROLL] = msg_up->rc_roll;
+    radio_control.values[RADIO_CONTROL_PITCH] = msg_up->rc_pitch;
+    radio_control.values[RADIO_CONTROL_YAW] = msg_up->rc_yaw;
+    radio_control.values[RADIO_CONTROL_THROTTLE] = msg_up->rc_thrust;
+    radio_control.values[RADIO_CONTROL_MODE] = msg_up->rc_mode;
+    radio_control.values[RADIO_CONTROL_KILL] = msg_up->rc_kill;
+    radio_control.values[RADIO_CONTROL_GEAR] = msg_up->rc_gear;
+    radio_control.values[RADIO_CONTROL_AUX3] = msg_up->rc_aux3;
+    radio_control.values[RADIO_CONTROL_AUX4] = msg_up->rc_aux4;
+    radio_control.status = msg_up->rc_status;
     radio_control_callback();
 
   // Fill IMU data