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Copter: GCS Failsafe comments and format changes

This commit is contained in:
Robert Lefebvre 2015-01-02 12:46:41 -05:00 committed by Randy Mackay
parent 5f19a43104
commit 205b312789
2 changed files with 5 additions and 4 deletions
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2
ArduCopter/Parameters.pde
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@ -49,7 +49,7 @@ const AP_Param::Info var_info[] PROGMEM = {
// @Param: SYSID_MYGCS
// @DisplayName: My ground station number
// @Description: Allows restricting radio overrides to only come from my ground station
// @Range: 1 255
// @Values: 255:Mission Planner and DroidPlanner, 252: AP Planner 2
// @User: Advanced
GSCALAR(sysid_my_gcs, "SYSID_MYGCS", 255),

7
ArduCopter/events.pde
View File

@ -232,15 +232,16 @@ static void failsafe_gcs_check()
// return immediately if gcs failsafe is disabled, gcs has never been connected or we are not overriding rc controls from the gcs and we are not in guided mode
// this also checks to see if we have a GCS failsafe active, if we do, then must continue to process the logic for recovery from this state.
if((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
if ((!failsafe.gcs)&&(g.failsafe_gcs == FS_GCS_DISABLED || failsafe.last_heartbeat_ms == 0 || (!failsafe.rc_override_active && control_mode != GUIDED))) {
return;
}
// calc time since last gcs update
// note: this only looks at the heartbeat from the device id set by g.sysid_my_gcs
last_gcs_update_ms = millis() - failsafe.last_heartbeat_ms;
// check if all is well
if( last_gcs_update_ms < FS_GCS_TIMEOUT_MS) {
if (last_gcs_update_ms < FS_GCS_TIMEOUT_MS) {
// check for recovery from gcs failsafe
if (failsafe.gcs) {
failsafe_gcs_off_event();
@ -250,7 +251,7 @@ static void failsafe_gcs_check()
}
// do nothing if gcs failsafe already triggered or motors disarmed
if( failsafe.gcs || !motors.armed()) {
if (failsafe.gcs || !motors.armed()) {
return;
}