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faster FS timer

This commit is contained in:
Jason Short 2012-02-09 22:20:20 -08:00
parent 0f3c3bb563
commit 471bd12799
1 changed files with 6 additions and 6 deletions
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12
ArduCopter/radio.pde
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@ -144,7 +144,7 @@ static void read_radio()
throttle_failsafe(g.rc_3.radio_in);
}
}
#define FS_COUNTER 3
static void throttle_failsafe(uint16_t pwm)
{
// Don't enter Failsafe if not enabled by user
@ -157,19 +157,19 @@ static void throttle_failsafe(uint16_t pwm)
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafeCounter++;
if (failsafeCounter == 9){
if (failsafeCounter == FS_COUNTER-1){
//
}else if(failsafeCounter == 10) {
}else if(failsafeCounter == FS_COUNTER) {
// Don't enter Failsafe if we are not armed
// home distance is in meters
// This is to prevent accidental RTL
if((motor_armed == true) && (home_distance > 1000) && (current_loc.alt > 400)){
if((motor_armed == true) && (home_distance > 1000)){
SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC);
set_failsafe(true);
}
}else if (failsafeCounter > 10){
failsafeCounter = 11;
}else if (failsafeCounter > FS_COUNTER){
failsafeCounter = FS_COUNTER+1;
}
}else if(failsafeCounter > 0){