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ArduCopter: bug fix to ppm encoder failsafe

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A new radio frame could arrive just as the frame time vs current time
check was being executed causing a false positive
This commit is contained in:
Randy Mackay 2013-01-30 00:17:54 +09:00
parent defeb76e47
commit f4e1424bd1
1 changed files with 2 additions and 1 deletions
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3
ArduCopter/radio.pde
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@ -147,7 +147,8 @@ static void read_radio()
#endif
}else{
// turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((millis() - APM_RC.get_last_update() >= RADIO_FS_TIMEOUT_MS) && g.failsafe_throttle && motors.armed() && !ap.failsafe) {
uint32_t last_rc_update = APM_RC.get_last_update();
if ((millis() - last_rc_update >= RADIO_FS_TIMEOUT_MS) && g.failsafe_throttle && motors.armed() && !ap.failsafe) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe(true);
}