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Changed default throttle type for failsafe to avoid checking

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changed timer to 20 seconds.
This commit is contained in:
Jason Short 2012-01-06 10:20:31 -08:00
parent 6d827d0087
commit 17873eb09c
1 changed files with 3 additions and 3 deletions
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6
ArduCopter/ArduCopter.pde
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@ -1642,7 +1642,7 @@ static void update_navigation()
wp_control = LOITER_MODE; 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 // just to make sure we clear the timer
auto_land_timer = 0; auto_land_timer = 0;
set_mode(LAND); set_mode(LAND);
@ -1830,7 +1830,7 @@ adjust_altitude()
//manual_boost = (g.rc_3.control_in == 800) ? 20 : 0; //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 // we remove 0 to 100 PWM from hover
manual_boost = g.rc_3.control_in - 180; manual_boost = g.rc_3.control_in - 180;
manual_boost = max(-120, manual_boost); manual_boost = max(-120, manual_boost);
@ -1838,7 +1838,7 @@ adjust_altitude()
g.pi_alt_hold.reset_I(); g.pi_alt_hold.reset_I();
g.pi_throttle.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 // we add 0 to 100 PWM to hover
manual_boost = g.rc_3.control_in - 650; manual_boost = g.rc_3.control_in - 650;
g.throttle_cruise += g.pi_alt_hold.get_integrator(); g.throttle_cruise += g.pi_alt_hold.get_integrator();