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Failsafe: Looking for takeoff_complete now vs unreliable GPS

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Jason Short 2012-05-29 11:24:41 -07:00
parent 08bf04dd08
commit 15774366ba
1 changed files with 1 additions and 1 deletions
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ArduCopter/radio.pde
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@ -147,7 +147,7 @@ static void throttle_failsafe(uint16_t pwm)
// Don't enter Failsafe if we are not armed // Don't enter Failsafe if we are not armed
// home distance is in meters // home distance is in meters
// This is to prevent accidental RTL // This is to prevent accidental RTL
if(motors.armed() && (home_distance > 1000)){ if(motors.armed() && takeoff_complete){
SendDebug("MSG FS ON "); SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC); SendDebugln(pwm, DEC);
set_failsafe(true); set_failsafe(true);