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Copter: FS_OPTIONS defaults to continue pilot controlled modes on GCS failsafe

This commit is contained in:
Randy Mackay 2020-12-08 14:39:11 +09:00
parent e1aaea0834
commit 98a41ab005
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/Parameters.cpp
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@ -953,7 +953,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe
// @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper
// @User: Advanced
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, 0),
AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Copter::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL),
#if MODE_AUTOROTATE_ENABLED == ENABLED
// @Group: AROT_
@ -1568,7 +1568,7 @@ void Copter::convert_fs_options_params(void)
}
// Variable to capture the new FS_OPTIONS setting
int32_t fs_options_converted = 0;
int32_t fs_options_converted = (int32_t)FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL;
// If FS_THR_ENABLED is 2 (continue mission), change to RTL and add continue mission to the new FS_OPTIONS parameter
if (g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {