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

ArduPPM: added a define for throttle low fail-safe indication

This commit is contained in:
Julian Oes 2013-01-11 13:19:36 -08:00
parent 71b2c3e13d
commit 70ce94ee88
1 changed files with 9 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
Tools/ArduPPM/Libraries/PPM_Encoder.h
View File

@ -127,11 +127,14 @@
// V2.3.13 - Official release
// - Fail-safe vales changed back to normal fail-safe values. Use until APM code knows how to handle lost channel signal (800us)
// 16-12-2012
// 10-01-2013
// V2.3.14pre - Internal test release
// - If one or more or all channel(s) are disconnected, throttle is set to fail-safe low (RTL)
// - If the misssing channel(s) are regained, throttle control is regained
// 11-01-2013
// V2.3.14 - temporary release for ArduCopter 2.9
// - fail-safe throttle low can be set with a define
// -------------------------------------------------------------
@ -174,7 +177,7 @@
#endif
// Version stamp for firmware hex file ( decode hex file using <avr-objdump -s file.hex> and look for "ArduPPM" string )
const char ver[15] = "ArduPPMv2.3.14pre";
const char ver[15] = "ArduPPMv2.3.14";
// -------------------------------------------------------------
// INPUT MODE
@ -195,6 +198,8 @@ volatile uint8_t servo_input_mode = JUMPER_SELECT_MODE;
//#define _APM_FAILSAFE_ // Used to spesify APM 800us channel loss fail safe values, remove to use normal fail safe values (stand alone encoder board)
#define _THROTTLE_LOW_FAILSAFE_INDICATION //if set, throttle is set to low in an error condition
// -------------------------------------------------------------
// SERVO LIMIT VALUES
// -------------------------------------------------------------
@ -669,6 +674,7 @@ CHECK_PINS_LOOP: // Input servo pin check loop
//Reset ppm single channel fail-safe timeout
ppm_timeout[ ppm_channel ] = 0;
#ifdef _THROTTLE_LOW_FAILSAFE_INDICATION
// Check for forced throttle fail-safe
if( throttle_failsafe_force )
{
@ -678,6 +684,7 @@ CHECK_PINS_LOOP: // Input servo pin check loop
servo_width = PPM_THROTTLE_FAILSAFE;
}
}
#endif
#ifdef _AVERAGE_FILTER_
// Average filter to smooth input jitter