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Copter: pre-arm check of throttle failsafe value

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Check throttle min is above throttle failsafe trigger and that trigger
is above ppm encoder's loss-of-signal value of 900
This commit is contained in:
Randy Mackay 2013-07-13 20:25:34 +09:00
parent 6bfcd28ade
commit 213472102c
1 changed files with 11 additions and 0 deletions
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11
ArduCopter/motors.pde
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@ -284,6 +284,17 @@ static void pre_arm_checks(bool display_failure)
}
#endif
// failsafe parameter checks
if (g.failsafe_throttle) {
// check throttle min is above throttle failsafe trigger and that the trigger is above ppm encoder's loss-of-signal value of 900
if (g.rc_3.radio_min <= g.failsafe_throttle_value+10 || g.failsafe_throttle_value < 910) {
if (display_failure) {
gcs_send_text_P(SEVERITY_HIGH,PSTR("PreArm: Check FS_THR_VALUE"));
}
return;
}
}
// if we've gotten this far then pre arm checks have completed
ap.pre_arm_check = true;
}