From 17873eb09cf4ae57fb68ac92fdab569b424e385e Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 6 Jan 2012 10:20:31 -0800 Subject: [PATCH] Changed default throttle type for failsafe to avoid checking changed timer to 20 seconds. --- ArduCopter/ArduCopter.pde | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde index 6862ff6caf..c105849988 100644 --- a/ArduCopter/ArduCopter.pde +++ b/ArduCopter/ArduCopter.pde @@ -1642,7 +1642,7 @@ static void update_navigation() wp_control = LOITER_MODE; } - if(auto_land_timer != 0 && (millis() - auto_land_timer) > 30000){ + if(auto_land_timer != 0 && (millis() - auto_land_timer) > 20000){ // just to make sure we clear the timer auto_land_timer = 0; set_mode(LAND); @@ -1830,7 +1830,7 @@ adjust_altitude() //manual_boost = (g.rc_3.control_in == 800) ? 20 : 0; }*/ - if(g.rc_3.control_in <= 180 && !failsafe){ + if(g.rc_3.control_in <= 180){ // we remove 0 to 100 PWM from hover manual_boost = g.rc_3.control_in - 180; manual_boost = max(-120, manual_boost); @@ -1838,7 +1838,7 @@ adjust_altitude() g.pi_alt_hold.reset_I(); g.pi_throttle.reset_I(); - }else if (g.rc_3.control_in >= 650 && !failsafe){ + }else if (g.rc_3.control_in >= 650){ // we add 0 to 100 PWM to hover manual_boost = g.rc_3.control_in - 650; g.throttle_cruise += g.pi_alt_hold.get_integrator();