Don't publish invalid MAVLink joystick input#23649
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Note that the MAVLink definition explicitly writes "A value of INT16_MAX indicates that this axis is invalid." which before this change was happily executed.
sfuhrer
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Sep 6, 2024
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Certainly better than before, but as you mention it would be even better to not publish it as 0 but NAN in that case.
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Solved Problem
When I was asked if a joystick with only 3 axes would work with PX4 I figured I'd check what the ground station should send and if it's handled correctly. Mavlink says "A value of INT16_MAX indicates that this axis is invalid." but if that's done then PX4 publishes a 3276.7% stick deflection 😱
Solution
Do not accept any out of range input. For now publish 0 when out of range.
Alternatives
I still have to go through and make sure all consumers can handle NAN. I promised to do that already here: #22108 (comment)
Changelog Entry
Test coverage
I tested in SITL SIH for
x,y,z,rthat out-of-range values lead to zero deflection and valid values including -1000 and 1000 lead to the expected deflections published.Context