From 4f57467aa5b24d09133d2a032ebd14e92670b54f Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 8 Aug 2014 13:30:51 +1000
Subject: [PATCH] Plane: build AFS (formerly known as OBC) failsafe on Pixhawk

this gives an advanced failsafe system which may be useful for other
than OBC use
---
 ArduPlane/Parameters.pde | 4 +++-
 ArduPlane/config.h       | 5 ++++-
 2 files changed, 7 insertions(+), 2 deletions(-)

diff --git a/ArduPlane/Parameters.pde b/ArduPlane/Parameters.pde
index d31099c10f..7158c7ce4f 100644
--- a/ArduPlane/Parameters.pde
+++ b/ArduPlane/Parameters.pde
@@ -1073,7 +1073,9 @@ const AP_Param::Info var_info[] PROGMEM = {
 #endif
 
 #if OBC_FAILSAFE == ENABLED
-    GOBJECT(obc,  "FS_", APM_OBC),
+    // @Group: AFS_
+    // @Path: ../libraries/APM_OBC/APM_OBC.cpp
+    GOBJECT(obc,  "AFS_", APM_OBC),
 #endif
 
 #if AP_AHRS_NAVEKF_AVAILABLE
diff --git a/ArduPlane/config.h b/ArduPlane/config.h
index fb46b66f0f..27f621f44a 100644
--- a/ArduPlane/config.h
+++ b/ArduPlane/config.h
@@ -138,7 +138,6 @@
 #endif
 #endif
 
-
 //////////////////////////////////////////////////////////////////////////////
 //////////////////////////////////////////////////////////////////////////////
 // RADIO CONFIGURATION
@@ -488,8 +487,12 @@
 
 // OBC Failsafe enable
 #ifndef OBC_FAILSAFE
+#if HAL_CPU_CLASS >= HAL_CPU_CLASS_75
+ # define OBC_FAILSAFE ENABLED
+#else
  # define OBC_FAILSAFE DISABLED
 #endif
+#endif
 
 #ifndef SERIAL_BUFSIZE
  # define SERIAL_BUFSIZE 512