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Copter: allow radio failsafe while disarmed so that user can be notified

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This commit is contained in:
Jonathan Challinger 2014-10-24 19:15:06 -07:00 committed by Randy Mackay
parent 21beb26484
commit cafb38e923
1 changed files with 2 additions and 2 deletions
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4
ArduCopter/radio.pde
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@ -122,7 +122,7 @@ static void read_radio()
uint32_t elapsed = tnow_ms - last_update_ms; uint32_t elapsed = tnow_ms - last_update_ms;
// turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE // turn on throttle failsafe if no update from the RC Radio for 500ms or 2000ms if we are using RC_OVERRIDE
if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) && if (((!failsafe.rc_override_active && (elapsed >= FS_RADIO_TIMEOUT_MS)) || (failsafe.rc_override_active && (elapsed >= FS_RADIO_RC_OVERRIDE_TIMEOUT_MS))) &&
(g.failsafe_throttle && motors.armed() && !failsafe.radio)) { (g.failsafe_throttle && (ap.rc_receiver_present||motors.armed()) && !failsafe.radio)) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME); Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true); set_failsafe_radio(true);
} }
@ -142,7 +142,7 @@ static void set_throttle_and_failsafe(uint16_t throttle_pwm)
if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) { if (throttle_pwm < (uint16_t)g.failsafe_throttle_value) {
// if we are already in failsafe or motors not armed pass through throttle and exit // if we are already in failsafe or motors not armed pass through throttle and exit
if (failsafe.radio || !motors.armed()) { if (failsafe.radio || !(ap.rc_receiver_present || motors.armed())) {
g.rc_3.set_pwm(throttle_pwm); g.rc_3.set_pwm(throttle_pwm);
return; return;
} }