Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-12 10:58:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

Added check for armed motors in failsafe

Browse Source
This commit is contained in:
Jason Short 2012-01-06 10:21:23 -08:00
parent a640311f58
commit 57c3405658
1 changed files with 4 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/radio.pde
View File

@ -142,6 +142,7 @@ static void read_radio()
static void throttle_failsafe(uint16_t pwm) static void throttle_failsafe(uint16_t pwm)
{ {
// Don't enter Failsafe if not enabled by user
if(g.throttle_fs_enabled == 0) if(g.throttle_fs_enabled == 0)
return; return;
@ -155,6 +156,8 @@ static void throttle_failsafe(uint16_t pwm)
SendDebug("MSG FS ON "); SendDebug("MSG FS ON ");
SendDebugln(pwm, DEC); SendDebugln(pwm, DEC);
}else if(failsafeCounter == 10) { }else if(failsafeCounter == 10) {
// Don't enter Failsafe if we are not armed
if(motor_armed == true)
set_failsafe(true); set_failsafe(true);
}else if (failsafeCounter > 10){ }else if (failsafeCounter > 10){
failsafeCounter = 11; failsafeCounter = 11;