From 57c3405658ab35e9b1f401889d321707a3e2ad39 Mon Sep 17 00:00:00 2001 From: Jason Short Date: Fri, 6 Jan 2012 10:21:23 -0800 Subject: [PATCH] Added check for armed motors in failsafe --- ArduCopter/radio.pde | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduCopter/radio.pde b/ArduCopter/radio.pde index d29531bec5..f319757e1f 100644 --- a/ArduCopter/radio.pde +++ b/ArduCopter/radio.pde @@ -142,6 +142,7 @@ static void read_radio() static void throttle_failsafe(uint16_t pwm) { + // Don't enter Failsafe if not enabled by user if(g.throttle_fs_enabled == 0) return; @@ -155,7 +156,9 @@ static void throttle_failsafe(uint16_t pwm) SendDebug("MSG FS ON "); SendDebugln(pwm, DEC); }else if(failsafeCounter == 10) { - set_failsafe(true); + // Don't enter Failsafe if we are not armed + if(motor_armed == true) + set_failsafe(true); }else if (failsafeCounter > 10){ failsafeCounter = 11; }