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Sub: Disable manual control failsafe for SITL

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This commit is contained in:
Jacob Walser 2017-03-06 13:08:12 -05:00 committed by Randy Mackay
parent 1ec592a2c5
commit 97396e65d1
2 changed files with 5 additions and 0 deletions
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3
ArduSub/Sub.cpp
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@ -103,7 +103,10 @@ Sub::Sub(void) :
sensor_health.compass = true; sensor_health.compass = true;
failsafe.last_heartbeat_ms = 0; failsafe.last_heartbeat_ms = 0;
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
failsafe.manual_control = true; failsafe.manual_control = true;
#endif
} }
Sub sub; Sub sub;

2
ArduSub/events.cpp
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@ -31,6 +31,7 @@ void Sub::failsafe_battery_event(void)
void Sub::failsafe_manual_control_check() void Sub::failsafe_manual_control_check()
{ {
#if CONFIG_HAL_BOARD != HAL_BOARD_SITL
uint32_t tnow = AP_HAL::millis(); uint32_t tnow = AP_HAL::millis();
// Require at least 2Hz update // Require at least 2Hz update
@ -46,6 +47,7 @@ void Sub::failsafe_manual_control_check()
} }
failsafe.manual_control = false; failsafe.manual_control = false;
#endif
} }
void Sub::failsafe_internal_pressure_check() void Sub::failsafe_internal_pressure_check()