From 1c9ebf9437a7123f1a68845367a5f0d031c63ee1 Mon Sep 17 00:00:00 2001
From: Dominic Clifton <me@dominicclifton.name>
Date: Tue, 3 Mar 2015 23:17:25 +0000
Subject: [PATCH] Use received Serial RX data even when serial rx reports
 failsafe.

---
 src/main/rx/rx.c   |  6 ++----
 src/main/rx/sbus.c | 34 +++++++++++++++++-----------------
 2 files changed, 19 insertions(+), 21 deletions(-)

diff --git a/src/main/rx/rx.c b/src/main/rx/rx.c
index 8808e97f3..4fb62bd9e 100644
--- a/src/main/rx/rx.c
+++ b/src/main/rx/rx.c
@@ -294,12 +294,10 @@ void processRxChannels(void)
 
 void processDataDrivenRx(void)
 {
-    if (!rcDataReceived) {
-        return;
+    if (rcDataReceived) {
+        failsafe->vTable->reset();
     }
 
-    failsafe->vTable->reset();
-
     processRxChannels();
 
     rcDataReceived = false;
diff --git a/src/main/rx/sbus.c b/src/main/rx/sbus.c
index 2ea8441b1..4368f2dc1 100644
--- a/src/main/rx/sbus.c
+++ b/src/main/rx/sbus.c
@@ -176,25 +176,10 @@ bool sbusFrameComplete(void)
     sbusFrameDone = false;
 
 #ifdef DEBUG_SBUS_PACKETS
+    sbusStateFlags = 0;
     debug[1] = sbusFrame.frame.flags;
 #endif
 
-    if (sbusFrame.frame.flags & SBUS_FLAG_SIGNAL_LOSS) {
-        // internal failsafe enabled and rx failsafe flag set
-#ifdef DEBUG_SBUS_PACKETS
-        sbusStateFlags |= SBUS_STATE_SIGNALLOSS;
-        debug[0] |= SBUS_STATE_SIGNALLOSS;
-#endif
-    }
-    if (sbusFrame.frame.flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
-#ifdef DEBUG_SBUS_PACKETS
-        sbusStateFlags |= SBUS_STATE_FAILSAFE;
-        debug[0] = sbusStateFlags;
-#endif
-        // internal failsafe enabled and rx failsafe flag set
-        return false;
-    }
-
     sbusChannelData[0] = sbusFrame.frame.chan0;
     sbusChannelData[1] = sbusFrame.frame.chan1;
     sbusChannelData[2] = sbusFrame.frame.chan2;
@@ -224,8 +209,23 @@ bool sbusFrameComplete(void)
         sbusChannelData[17] = SBUS_DIGITAL_CHANNEL_MIN;
     }
 
+    if (sbusFrame.frame.flags & SBUS_FLAG_SIGNAL_LOSS) {
+#ifdef DEBUG_SBUS_PACKETS
+        sbusStateFlags |= SBUS_STATE_SIGNALLOSS;
+        debug[0] = sbusStateFlags;
+#endif
+    }
+    if (sbusFrame.frame.flags & SBUS_FLAG_FAILSAFE_ACTIVE) {
+        // internal failsafe enabled and rx failsafe flag set
+#ifdef DEBUG_SBUS_PACKETS
+        sbusStateFlags |= SBUS_STATE_FAILSAFE;
+        debug[0] = sbusStateFlags;
+#endif
+        // RX *should* still be sending valid channel data, so use it.
+        return false;
+    }
+
 #ifdef DEBUG_SBUS_PACKETS
-    sbusStateFlags = 0;
     debug[0] = sbusStateFlags;
 #endif
     return true;