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Plane: fixed failsafe pass-thru for APM2

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This commit is contained in:
Andrew Tridgell 2014-11-14 11:27:32 +11:00
parent 2270a904ce
commit ed6358730a
1 changed files with 10 additions and 4 deletions
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14
ArduPlane/failsafe.pde
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@ -59,12 +59,18 @@ void failsafe_check(void)
channel_throttle->radio_out = channel_throttle->read();
channel_rudder->radio_out = channel_rudder->read();
int16_t roll = channel_roll->pwm_to_angle_dz(0);
int16_t pitch = channel_pitch->pwm_to_angle_dz(0);
int16_t rudder = channel_rudder->pwm_to_angle_dz(0);
// setup secondary output channels that don't have
// corresponding input channels
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, channel_roll->radio_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, channel_pitch->radio_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, channel_rudder->radio_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, channel_rudder->radio_out);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_aileron, roll);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_elevator, pitch);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_rudder, rudder);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_steering, rudder);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon1, roll);
RC_Channel_aux::set_servo_out(RC_Channel_aux::k_flaperon2, roll);
if (g.vtail_output != MIXING_DISABLED) {
channel_output_mixer(g.vtail_output, channel_pitch->radio_out, channel_rudder->radio_out);