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Plane: do not trust fence-channel PWM during RC failsafe

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Peter Barker 2019-11-03 09:08:39 +11:00 committed by Andrew Tridgell
parent fc98b7d9e8
commit 08e18ccdfe
1 changed files with 5 additions and 0 deletions
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5
ArduPlane/geofence.cpp
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@ -160,6 +160,11 @@ bool Plane::geofence_present(void)
*/ */
void Plane::geofence_update_pwm_enabled_state() void Plane::geofence_update_pwm_enabled_state()
{ {
if (rc_failsafe_active()) {
// do nothing based on the radio channel value as it may be at bind value
return;
}
bool is_pwm_enabled; bool is_pwm_enabled;
if (g.fence_channel == 0) { if (g.fence_channel == 0) {
is_pwm_enabled = false; is_pwm_enabled = false;