From 8b636ff86a00bba1d7603a911592d06dc2b7b6fa Mon Sep 17 00:00:00 2001
From: mikeller <github@ike.ch>
Date: Thu, 25 Jan 2018 02:01:29 +1300
Subject: [PATCH] Avoid RC processing when no new RC data was received.

---
 src/main/fc/fc_core.c  | 6 ++++--
 src/main/fc/fc_core.h  | 2 +-
 src/main/fc/fc_tasks.c | 5 ++++-
 3 files changed, 9 insertions(+), 4 deletions(-)

diff --git a/src/main/fc/fc_core.c b/src/main/fc/fc_core.c
index 93a34403f..e3a769a83 100644
--- a/src/main/fc/fc_core.c
+++ b/src/main/fc/fc_core.c
@@ -392,13 +392,13 @@ static bool canUpdateVTX(void)
 /*
  * processRx called from taskUpdateRxMain
  */
-void processRx(timeUs_t currentTimeUs)
+bool processRx(timeUs_t currentTimeUs)
 {
     static bool armedBeeperOn = false;
     static bool airmodeIsActivated;
 
     if (!calculateRxChannelsAndUpdateFailsafe(currentTimeUs)) {
-        return;
+        return false;
     }
 
     // in 3D mode, we need to be able to disarm by switch at any time
@@ -600,6 +600,8 @@ void processRx(timeUs_t currentTimeUs)
         handleVTXControlButton();
     }
 #endif
+
+    return true;
 }
 
 static void subTaskPidController(timeUs_t currentTimeUs)
diff --git a/src/main/fc/fc_core.h b/src/main/fc/fc_core.h
index a136cd73a..6d215beab 100644
--- a/src/main/fc/fc_core.h
+++ b/src/main/fc/fc_core.h
@@ -42,7 +42,7 @@ void resetArmingDisabled(void);
 void disarm(void);
 void tryArm(void);
 
-void processRx(timeUs_t currentTimeUs);
+bool processRx(timeUs_t currentTimeUs);
 void updateArmingStatus(void);
 void updateRcCommands(void);
 
diff --git a/src/main/fc/fc_tasks.c b/src/main/fc/fc_tasks.c
index 9cb0a8088..a7cfc9496 100644
--- a/src/main/fc/fc_tasks.c
+++ b/src/main/fc/fc_tasks.c
@@ -132,7 +132,10 @@ static void taskUpdateAccelerometer(timeUs_t currentTimeUs)
 
 static void taskUpdateRxMain(timeUs_t currentTimeUs)
 {
-    processRx(currentTimeUs);
+    if (!processRx(currentTimeUs)) {
+        return;
+    }
+
     isRXDataNew = true;
 
 #if !defined(USE_ALT_HOLD)