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Plane: Remove redundant protection

This commit is contained in:
Michael du Breuil 2019-08-20 09:24:01 -07:00 committed by Francisco Ferreira
parent 851ee24c99
commit ea64077f77
1 changed files with 26 additions and 28 deletions
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54
ArduPlane/radio.cpp
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@ -278,36 +278,34 @@ void Plane::control_failsafe()
}
}
if(g.throttle_fs_enabled == 0)
if(g.throttle_fs_enabled == 0) {
return;
}
if (g.throttle_fs_enabled) {
if (rc_failsafe_active()) {
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafe.throttle_counter++;
if (failsafe.throttle_counter == 10) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on");
failsafe.rc_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
if (failsafe.throttle_counter > 10) {
failsafe.throttle_counter = 10;
}
}else if(failsafe.throttle_counter > 0) {
// we are no longer in failsafe condition
// but we need to recover quickly
failsafe.throttle_counter--;
if (failsafe.throttle_counter > 3) {
failsafe.throttle_counter = 3;
}
if (failsafe.throttle_counter == 1) {
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;
}
if (rc_failsafe_active()) {
// we detect a failsafe from radio
// throttle has dropped below the mark
failsafe.throttle_counter++;
if (failsafe.throttle_counter == 10) {
gcs().send_text(MAV_SEVERITY_WARNING, "Throttle failsafe on");
failsafe.rc_failsafe = true;
AP_Notify::flags.failsafe_radio = true;
}
if (failsafe.throttle_counter > 10) {
failsafe.throttle_counter = 10;
}
} else if(failsafe.throttle_counter > 0) {
// we are no longer in failsafe condition
// but we need to recover quickly
failsafe.throttle_counter--;
if (failsafe.throttle_counter > 3) {
failsafe.throttle_counter = 3;
}
if (failsafe.throttle_counter == 1) {
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;
}
}
}