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Copter: thr failsafe will not RTL if in batt failsafe 

resolves issue #413
This commit is contained in:
Randy Mackay 2013-07-13 19:49:25 +09:00
parent 399970e76f
commit 6bfcd28ade
1 changed files with 5 additions and 0 deletions
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5
ArduCopter/events.pde
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@ -43,6 +43,11 @@ static void failsafe_radio_on_event()
}
// if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break;
case LAND:
// continue to land if battery failsafe is also active otherwise fall through to default handling
if (g.failsafe_battery_enabled && ap.low_battery) {
break;
}
default:
if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately