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Plane: ensure we're in short failsafe before using failsafe.ch3_timer_ms

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Peter Barker 2017-09-25 12:04:01 +10:00 committed by Andrew Tridgell
parent ff88b0dfda
commit 4ce051af82
1 changed files with 1 additions and 1 deletions
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2
ArduPlane/system.cpp
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@ -480,7 +480,7 @@ void Plane::check_long_failsafe()
// -------------------
if (failsafe.state != FAILSAFE_LONG && failsafe.state != FAILSAFE_GCS && flight_stage != AP_Vehicle::FixedWing::FLIGHT_LAND) {
uint32_t radio_timeout_ms = failsafe.last_valid_rc_ms;
if (g.short_fs_action != SHORT_FS_ACTION_DISABLED) {
if (failsafe.state == FAILSAFE_SHORT) {
// time is relative to when short failsafe enabled
radio_timeout_ms = failsafe.ch3_timer_ms;
}