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Copter: Change Radio Failsafe Timeout

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Change Radio Failsafe Timeout from 2 seconds to 200ms
This commit is contained in:
Craig Elder 2014-07-16 11:03:29 -07:00
parent e85c9f078d
commit 3c9c943b67
1 changed files with 2 additions and 3 deletions
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3
ArduCopter/radio.pde
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@ -95,7 +95,6 @@ void output_min()
motors.output_min();
}
#define FAILSAFE_RADIO_TIMEOUT_MS 2000 // 2 seconds
static void read_radio()
{
static uint32_t last_update = 0;
@ -125,7 +124,7 @@ static void read_radio()
}else{
uint32_t elapsed = millis() - last_update;
// turn on throttle failsafe if no update from ppm encoder for 2 seconds
if ((elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)
if ((ap.rc_receiver_present && (elapsed >= FAILSAFE_RADIO_TIMEOUT_MS)) || (!ap.rc_receiver_present && (elapsed >= FS_GCS_TIMEOUT_MS))
&& g.failsafe_throttle && motors.armed() && !failsafe.radio) {
Log_Write_Error(ERROR_SUBSYSTEM_RADIO, ERROR_CODE_RADIO_LATE_FRAME);
set_failsafe_radio(true);