Updated to effector v6.1.3, which adds a check to see whether a chann…

…el was configured.
bolderflight · May 18, 2021 · 395b598 · 395b598
1 parent a83d2c6
commit 395b598
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,5 +1,8 @@
 # Changelog
 
+## v4.0.5
+- Updated to effector v6.1.3, which adds a check to see whether a channel was configured.
+
 ## v4.0.4
 - throttle_en compared to zero instead of a cast to bool. Now, true if greater than zero.
 

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -5,7 +5,7 @@ if (DEFINED MCU)
 endif()
 # Project information
 project(Sbus
-	VERSION 4.0.4
+	VERSION 4.0.5
 	DESCRIPTION "SBUS encoder and decoder"
 	LANGUAGES C CXX
 )
@@ -32,7 +32,7 @@ if (DEFINED MCU)
 	FetchContent_Declare(
 		effector
 		GIT_REPOSITORY 	https://github.com/bolderflight/effector.git
-		GIT_TAG v6.1.0
+		GIT_TAG v6.1.3
 	)
 	FetchContent_MakeAvailable(effector)
   # Fetch polytools

diff --git a/include/sbus/sbus.h b/include/sbus/sbus.h
@@ -84,27 +84,30 @@ class SbusTx {
   void Cmd(std::span<const float> cmds) {
     std::size_t len = std::min(cmds.size(), N);
     for (std::size_t i = 0; i < len; i++) {
-      /* Saturation */
-      if (cmds[i] > config_.effectors[i].max) {
-        val_ = config_.effectors[i].max;
-      } else if (cmds[i] < config_.effectors[i].min) {
-        val_ = config_.effectors[i].min;
-      } else {
-        val_ = cmds[i];
+      /* Check whether the channel was configured */
+      if (config_.effectors[i].ch >=0) {
+        /* Saturation */
+        if (cmds[i] > config_.effectors[i].max) {
+          val_ = config_.effectors[i].max;
+        } else if (cmds[i] < config_.effectors[i].min) {
+          val_ = config_.effectors[i].min;
+        } else {
+          val_ = cmds[i];
+        }
+        /* Motor check */
+        if ((config_.effectors[i].type == MOTOR) && (!motors_enabled_)) {
+          val_ = config_.effectors[i].failsafe;
+        }
+        /* Servo check */
+        if ((config_.effectors[i].type == SERVO) && (!servos_enabled_)) {
+          val_ = config_.effectors[i].failsafe;
+        }
+        /* polyval */
+        std::span<float> coef{config_.effectors[i].poly_coef,
+          static_cast<std::size_t>(config_.effectors[i].num_coef)};
+        ch_[config_.effectors[i].ch] = static_cast<uint16_t>(
+                                      polyval<float>(coef, val_));
       }
-      /* Motor check */
-      if ((config_.effectors[i].type == MOTOR) && (!motors_enabled_)) {
-        val_ = config_.effectors[i].failsafe;
-      }
-      /* Servo check */
-      if ((config_.effectors[i].type == SERVO) && (!servos_enabled_)) {
-        val_ = config_.effectors[i].failsafe;
-      }
-      /* polyval */
-      std::span<float> coef{config_.effectors[i].poly_coef,
-        static_cast<std::size_t>(config_.effectors[i].num_coef)};
-      ch_[config_.effectors[i].ch] = static_cast<uint16_t>(
-                                     polyval<float>(coef, val_));
     }
   }
   void Write() {