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Failsafe: added COMPETITION_MODE

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This commit is contained in:
Andrew Tridgell 2012-07-12 10:59:32 +10:00
parent b499d1cc00
commit 9c19ff1a2c
1 changed files with 10 additions and 0 deletions
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10
Tools/Failsafe/Failsafe.pde
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@ -23,6 +23,8 @@ Arduino_Mega_ISR_Registry isr_registry;
#define HEARTBEAT_PIN A0 #define HEARTBEAT_PIN A0
#define FAILSAFE_PIN A1 #define FAILSAFE_PIN A1
#define COMPETITION_MODE 0
void setup() { void setup() {
Serial.begin(115200, 256, 256); Serial.begin(115200, 256, 256);
isr_registry.init(); isr_registry.init();
@ -80,11 +82,19 @@ void loop()
last_print = tnow; last_print = tnow;
} }
if (failsafe_enabled || heartbeat_failure) { if (failsafe_enabled || heartbeat_failure) {
#if COMPETITION_MODE
// if we are in failover, send receiver input straight
// to the servos
for (uint8_t ch=0; ch<4; ch++) {
APM_RC.OutputCh(ch, 1000);
}
#else
// if we are in failover, send receiver input straight // if we are in failover, send receiver input straight
// to the servos // to the servos
for (uint8_t ch=0; ch<4; ch++) { for (uint8_t ch=0; ch<4; ch++) {
APM_RC.OutputCh(ch, pwm[ch+4]); APM_RC.OutputCh(ch, pwm[ch+4]);
} }
#endif
} else { } else {
// otherwise send autopilot output to the servos // otherwise send autopilot output to the servos
for (uint8_t ch=0; ch<4; ch++) { for (uint8_t ch=0; ch<4; ch++) {