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Copter: correct advance failsafe

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This commit is contained in:
Pierre Kancir 2017-01-30 15:42:21 +01:00 committed by Randy Mackay
parent 01da36295d
commit 1455f8c513
1 changed files with 13 additions and 13 deletions
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26
ArduCopter/afs_copter.cpp
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@ -25,25 +25,25 @@ void AP_AdvancedFailsafe_Copter::terminate_vehicle(void)
copter.init_disarm_motors();
// and set all aux channels
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_heli_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_heli_tail_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_engine_run_enable, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_ignition, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_limit(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::output_ch_all();
SRV_Channels::output_ch_all();
}
void AP_AdvancedFailsafe_Copter::setup_IO_failsafe(void)
{
// setup failsafe for all aux channels
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_heli_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_heli_tail_rsc, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_engine_run_enable, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_ignition, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_none, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
RC_Channel_aux::set_servo_failsafe(RC_Channel_aux::k_manual, RC_Channel::RC_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_heli_tail_rsc, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_engine_run_enable, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_ignition, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
#if FRAME_CONFIG != HELI_FRAME
// setup AP_Motors outputs for failsafe