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Forced Faildafe throttle mode to throttle Auto

This commit is contained in:
Jason Short 2012-01-06 10:21:50 -08:00
parent 57c3405658
commit 056a08d838
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/system.pde
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@ -450,7 +450,7 @@ static void set_mode(byte mode)
control_mode = constrain(control_mode, 0, NUM_MODES - 1); control_mode = constrain(control_mode, 0, NUM_MODES - 1);
// used to stop fly_aways // used to stop fly_aways
motor_auto_armed = (g.rc_3.control_in > 0) || failsafe; motor_auto_armed = (g.rc_3.control_in > 0);
// clearing value used in interactive alt hold // clearing value used in interactive alt hold
manual_boost = 0; manual_boost = 0;
@ -458,6 +458,7 @@ static void set_mode(byte mode)
// do not auto_land if we are leaving RTL // do not auto_land if we are leaving RTL
auto_land_timer = 0; auto_land_timer = 0;
// debug to Serial terminal
Serial.println(flight_mode_strings[control_mode]); Serial.println(flight_mode_strings[control_mode]);
// report the GPS and Motor arming status // report the GPS and Motor arming status
@ -550,6 +551,14 @@ static void set_mode(byte mode)
break; break;
} }
if(failsafe){
// this is to allow us to fly home without interactive throttle control
throttle_mode = THROTTLE_AUTO;
// does not wait for us to be in high throttle, since the
// Receiver will be outputting low throttle
motor_auto_armed = true;
}
if(throttle_mode == THROTTLE_MANUAL){ if(throttle_mode == THROTTLE_MANUAL){
// reset all of the throttle iterms // reset all of the throttle iterms
g.pi_alt_hold.reset_I(); g.pi_alt_hold.reset_I();
@ -595,7 +604,6 @@ static void set_failsafe(boolean mode)
// We've lost radio contact // We've lost radio contact
// ------------------------ // ------------------------
failsafe_on_event(); failsafe_on_event();
} }
} }
} }