Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

GCS_Failsafe: option to trigger only in AUTO mode.

This commit is contained in:
Andre Kjellstrup 2015-05-09 12:51:24 +02:00 committed by Andrew Tridgell
parent 39797529fd
commit 19aa7caad0
1 changed files with 5 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
ArduPlane/system.cpp
View File

@ -487,7 +487,11 @@ void Plane::check_long_failsafe()
if (failsafe.state == FAILSAFE_SHORT &&
(tnow - failsafe.ch3_timer_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_LONG);
} else if (g.gcs_heartbeat_fs_enabled != GCS_FAILSAFE_OFF &&
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HB_AUTO && control_mode == AUTO &&
failsafe.last_heartbeat_ms != 0 &&
(tnow - failsafe.last_heartbeat_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_GCS);
} else if (g.gcs_heartbeat_fs_enabled == GCS_FAILSAFE_HEARTBEAT &&
failsafe.last_heartbeat_ms != 0 &&
(tnow - failsafe.last_heartbeat_ms) > g.long_fs_timeout*1000) {
failsafe_long_on_event(FAILSAFE_GCS);