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

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
ArduCopter/events.pde
View File

@ -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 // if failsafe_throttle is 2 (i.e. FS_THR_ENABLED_CONTINUE_MISSION) no need to do anything
break; 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: default:
if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) { if(g.failsafe_throttle == FS_THR_ENABLED_ALWAYS_LAND) {
// if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately // if failsafe_throttle is 3 (i.e. FS_THR_ENABLED_ALWAYS_LAND) land immediately