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Plane: fixup throttle trim on failsafe

This commit is contained in:
Andrew Tridgell 2014-03-08 17:22:24 +11:00
parent 6408965ae9
commit 3a3397d926
1 changed files with 2 additions and 2 deletions
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4
ArduPlane/radio.pde
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@ -191,11 +191,11 @@ static void control_failsafe(uint16_t pwm)
{ {
if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) { if (hal.scheduler->millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) {
// we do not have valid RC input. Set all primary channel // we do not have valid RC input. Set all primary channel
// control inputs to the trim value // control inputs to the trim value and throttle to min
channel_roll->radio_in = channel_roll->radio_trim; channel_roll->radio_in = channel_roll->radio_trim;
channel_pitch->radio_in = channel_pitch->radio_trim; channel_pitch->radio_in = channel_pitch->radio_trim;
channel_rudder->radio_in = channel_rudder->radio_trim; channel_rudder->radio_in = channel_rudder->radio_trim;
channel_throttle->radio_in = channel_throttle->radio_trim; channel_throttle->radio_in = channel_throttle->radio_min;
channel_roll->control_in = 0; channel_roll->control_in = 0;
channel_pitch->control_in = 0; channel_pitch->control_in = 0;
channel_rudder->control_in = 0; channel_rudder->control_in = 0;