Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Plane: fixed throttle failsafe with reversed throttle

This commit is contained in:
Andrew Tridgell 2013-11-17 15:32:36 +11:00
parent e32e83f2f0
commit 56f574684d
2 changed files with 16 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduPlane/Attitude.pde
View File

@ -43,8 +43,7 @@ static bool stick_mixing_enabled(void)
if (g.stick_mixing != STICK_MIXING_DISABLED &&
geofence_stickmixing() &&
failsafe.state == FAILSAFE_NONE &&
(g.throttle_fs_enabled == 0 ||
channel_throttle->radio_in >= g.throttle_fs_value)) {
!throttle_failsafe_level()) {
// we're in an auto mode, and haven't triggered failsafe
return true;
} else {

16
ArduPlane/radio.pde
View File

@ -129,7 +129,7 @@ static void control_failsafe(uint16_t pwm)
//Check for failsafe and debounce funky reads
} else if (g.throttle_fs_enabled) {
if (pwm < (unsigned)g.throttle_fs_value) {
if (throttle_failsafe_level()) {
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafe.ch3_counter++;
@ -221,3 +221,17 @@ static void trim_radio()
trim_control_surfaces();
}
/*
return true if throttle level is below throttle failsafe threshold
*/
static bool throttle_failsafe_level(void)
{
if (!g.throttle_fs_enabled) {
return false;
}
if (channel_throttle->get_reverse()) {
return channel_throttle->radio_in >= g.throttle_fs_value;
}
return channel_throttle->radio_in <= g.throttle_fs_value;
}