mavlink_receiver: improve rc channel ignore condition readability

PX4 · Jan 24, 2019 · 9854166 · 9854166
1 parent 8da5ad6
commit 9854166
Showing 1 changed file with 3 additions and 4 deletions.
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
@@ -1863,11 +1863,10 @@ MavlinkReceiver::handle_message_rc_channels_override(mavlink_message_t *msg)
 
 	// check how many channels are valid
 	for (int i = 17; i >= 0; i--) {
-		// definition: ignore any channel with value UINT16_MAX and channel 8-18 with value 0
-		const bool ignore_channel = rc.values[i] == UINT16_MAX ||
-					    (rc.values[i] == 0 && (i > 7));
+		const bool ignore_max = rc.values[i] == UINT16_MAX; // ignore any channel with value UINT16_MAX
+		const bool ignore_zero = (i > 7) && (rc.values[i] == 0); // ignore channel 8-18 if value is 0
 
-		if (ignore_channel) {
+		if (ignore_max || ignore_zero) {
 			// set all ignored values to zero
 			rc.values[i] = 0;