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uncrustify ArduPlane/failsafe.pde

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uncrustify 2012-08-16 17:50:15 -07:00 committed by Pat Hickey
parent 4e795d4f1e
commit 326ca1b7cd
1 changed files with 8 additions and 8 deletions
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16
ArduPlane/failsafe.pde
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@ -1,17 +1,17 @@
// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
/*
failsafe support
Andrew Tridgell, December 2011
* failsafe support
* Andrew Tridgell, December 2011
*/
/*
our failsafe strategy is to detect main loop lockup and switch to
passing inputs straight from the RC inputs to RC outputs.
* our failsafe strategy is to detect main loop lockup and switch to
* passing inputs straight from the RC inputs to RC outputs.
*/
/*
this failsafe_check function is called from the core timer interrupt
at 1kHz.
* this failsafe_check function is called from the core timer interrupt
* at 1kHz.
*/
void failsafe_check(uint32_t tnow)
{
@ -29,14 +29,14 @@ void failsafe_check(uint32_t tnow)
if (tnow - last_timestamp > 200000) {
// we have gone at least 0.2 seconds since the main loop
// ran. That means we're in trouble, or perhaps are in
// ran. That means we're in trouble, or perhaps are in
// an initialisation routine or log erase. Start passing RC
// inputs through to outputs
in_failsafe = true;
}
if (in_failsafe && tnow - last_timestamp > 20000) {
// pass RC inputs to outputs every 20ms
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
APM_RC.clearOverride();
for (uint8_t ch=0; ch<8; ch++) {