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Plane: fixed failsafe with VTAIL_OUTPUT

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This commit is contained in:
Andrew Tridgell 2013-04-05 15:35:26 +11:00
parent 406921faf1
commit 17cbcd1bf6
1 changed files with 12 additions and 5 deletions
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17
ArduPlane/failsafe.pde
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@ -39,13 +39,20 @@ void failsafe_check(uint32_t tnow)
// pass RC inputs to outputs every 20ms
last_timestamp = tnow;
hal.rcin->clear_overrides();
uint8_t start_ch = 0;
if (demoing_servos) {
start_ch = 1;
g.channel_roll.radio_out = hal.rcin->read(CH_1);
g.channel_pitch.radio_out = hal.rcin->read(CH_2);
g.channel_throttle.radio_out = hal.rcin->read(CH_3);
g.channel_rudder.radio_out = hal.rcin->read(CH_4);
if (g.vtail_output != VTAIL_DISABLED) {
vtail_output_mixing();
}
for (uint8_t ch=start_ch; ch<4; ch++) {
servo_write(ch, hal.rcin->read(ch));
if (!demoing_servos) {
servo_write(CH_1, g.channel_roll.radio_out);
}
servo_write(CH_2, g.channel_pitch.radio_out);
servo_write(CH_3, g.channel_throttle.radio_out);
servo_write(CH_4, g.channel_rudder.radio_out);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_manual, true);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_aileron_with_input, true);
RC_Channel_aux::copy_radio_in_out(RC_Channel_aux::k_elevator_with_input, true);