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Plane: Don't broadcast PWM value that tripped throttle failsafe

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This commit is contained in:
Michael du Breuil 2017-10-27 13:23:28 -07:00 committed by Tom Pittenger
parent d52f5155f0
commit e63e39c411
2 changed files with 6 additions and 6 deletions
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2
ArduPlane/Plane.h
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@ -945,7 +945,7 @@ private:
void init_rc_out_aux();
void rudder_arm_disarm_check();
void read_radio();
void control_failsafe(uint16_t pwm);
void control_failsafe();
void trim_control_surfaces();
void trim_radio();
bool rc_failsafe_active(void);

10
ArduPlane/radio.cpp
View File

@ -172,7 +172,7 @@ void Plane::rudder_arm_disarm_check()
void Plane::read_radio()
{
if (!hal.rcin->new_input()) {
control_failsafe(channel_throttle->get_radio_in());
control_failsafe();
return;
}
@ -204,7 +204,7 @@ void Plane::read_radio()
channel_pitch->set_pwm(pwm_pitch);
}
control_failsafe(channel_throttle->get_radio_in());
control_failsafe();
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, channel_throttle->get_control_in());
@ -240,7 +240,7 @@ void Plane::read_radio()
tuning.check_input(control_mode);
}
void Plane::control_failsafe(uint16_t pwm)
void Plane::control_failsafe()
{
if (millis() - failsafe.last_valid_rc_ms > 1000 || rc_failsafe_active()) {
// we do not have valid RC input. Set all primary channel
@ -266,7 +266,7 @@ void Plane::control_failsafe(uint16_t pwm)
// throttle has dropped below the mark
failsafe.throttle_counter++;
if (failsafe.throttle_counter == 10) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on %u", (unsigned)pwm);
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on");
failsafe.rc_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
@ -282,7 +282,7 @@ void Plane::control_failsafe(uint16_t pwm)
failsafe.throttle_counter = 3;
}
if (failsafe.throttle_counter == 1) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off %u", (unsigned)pwm);
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe off");
} else if(failsafe.throttle_counter == 0) {
failsafe.rc_failsafe = false;
AP_Notify::flags.failsafe_radio = false;