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Sub: always neutralize inputs during pilot input failsafe

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This commit is contained in:
Jacob Walser 2017-10-26 14:47:16 -04:00
parent fb2e87032d
commit b7e367e21d
1 changed files with 2 additions and 1 deletions
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3
ArduSub/failsafe.cpp
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@ -216,8 +216,9 @@ void Sub::failsafe_pilot_input_check()
Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED); Log_Write_Error(ERROR_SUBSYSTEM_INPUT, ERROR_CODE_FAILSAFE_OCCURRED);
gcs().send_text(MAV_SEVERITY_CRITICAL, "Lost manual control"); gcs().send_text(MAV_SEVERITY_CRITICAL, "Lost manual control");
if(g.failsafe_pilot_input == FS_PILOT_INPUT_DISARM) {
set_neutral_controls(); set_neutral_controls();
if(g.failsafe_pilot_input == FS_PILOT_INPUT_DISARM) {
init_disarm_motors(); init_disarm_motors();
} }
#endif #endif