From c983de9d8bd0ff7f9ccee92e51b559faf5af67d8 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 8 Sep 2012 11:26:18 +1000
Subject: [PATCH] APM_OBC: changed termination servo values, and added loop
 counter

---
 libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
index cbe76f58b2..81e075e2d0 100644
--- a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
+++ b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
@@ -121,7 +121,7 @@ static void set_servos_terminate(uint8_t obc_mode)
 {
 	set_mux_mode(MUX_MODE_MICRO);
 	if (obc_mode) {
-		set_servos(2000, 2000, 1000, 2000);
+		set_servos(1000, 2000, 1000, 1000);
 	} else {
 		set_servos(1500, 1500, 1200, 1500);
 	}
@@ -161,6 +161,9 @@ void loop()
 	static uint8_t led_state;
 	static bool has_terminated = false;
 	static uint8_t termination_counter;
+	static uint16_t loop_counter;
+
+	loop_counter++;
 
 	// check for heartbeat
 	update_heartbeat();
@@ -188,8 +191,10 @@ void loop()
 		Serial.print(" TERM1:"); Serial.print(terminate_primary);
 		Serial.print(" TERM2:"); Serial.print(terminate_backup);
 		Serial.print(" TERMINATED:"); Serial.print(has_terminated);
+		Serial.print(" LOOP:"); Serial.print(loop_counter);
 		Serial.println();
 		delayMicroseconds(5000);
+		loop_counter = 0;
 		// flash LED once a second so we know failsafe board
 		// is working
 		led_state = !led_state;