mirror of https://github.com/ArduPilot/ardupilot
updated failsafe code
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parent
a2857f9746
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f487fd505b
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@ -139,7 +139,7 @@ static void read_radio()
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g.rc_3.control_in = min(g.rc_3.control_in, 800);
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g.rc_3.control_in = min(g.rc_3.control_in, 800);
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#endif
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#endif
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//throttle_failsafe(g.rc_3.radio_in);
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throttle_failsafe(g.rc_3.radio_in);
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}
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}
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}
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}
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@ -158,8 +158,8 @@ static void throttle_failsafe(uint16_t pwm)
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SendDebug("MSG FS ON ");
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SendDebug("MSG FS ON ");
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SendDebugln(pwm, DEC);
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 10) {
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}else if(failsafeCounter == 10) {
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ch3_failsafe = true;
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//ch3_failsafe = true;
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//set_failsafe(true);
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set_failsafe(true);
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//failsafeCounter = 10;
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//failsafeCounter = 10;
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}else if (failsafeCounter > 10){
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}else if (failsafeCounter > 10){
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failsafeCounter = 11;
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failsafeCounter = 11;
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@ -176,8 +176,8 @@ static void throttle_failsafe(uint16_t pwm)
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SendDebug("MSG FS OFF ");
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SendDebug("MSG FS OFF ");
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SendDebugln(pwm, DEC);
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SendDebugln(pwm, DEC);
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}else if(failsafeCounter == 0) {
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}else if(failsafeCounter == 0) {
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ch3_failsafe = false;
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//ch3_failsafe = false;
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//set_failsafe(false);
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set_failsafe(false);
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//failsafeCounter = -1;
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//failsafeCounter = -1;
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}else if (failsafeCounter <0){
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}else if (failsafeCounter <0){
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failsafeCounter = -1;
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failsafeCounter = -1;
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