From 96cb7d2fc03b6271814f7a9249db18fd768b56c1 Mon Sep 17 00:00:00 2001
From: "deweibel@gmail.com"
 <deweibel@gmail.com@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Sat, 11 Jun 2011 23:59:35 +0000
Subject: [PATCH] Add clearOverride message to allow failsafe recovery from
 joystick control

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2540 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 libraries/APM_RC/APM_RC.cpp | 8 ++++++++
 libraries/APM_RC/APM_RC.h   | 1 +
 2 files changed, 9 insertions(+)

diff --git a/libraries/APM_RC/APM_RC.cpp b/libraries/APM_RC/APM_RC.cpp
index e234f847ba..d3699ce639 100644
--- a/libraries/APM_RC/APM_RC.cpp
+++ b/libraries/APM_RC/APM_RC.cpp
@@ -214,6 +214,14 @@ bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
 	radio_status = 1;
 }
 
+void APM_RC_Class::clearOverride(void)
+{
+	for (unsigned char i=0; i<NUM_CHANNELS; i++) {
+		_HIL_override[i] = 0;
+	}
+}
+
+
 // make one instance for the user to use
 APM_RC_Class APM_RC;
 
diff --git a/libraries/APM_RC/APM_RC.h b/libraries/APM_RC/APM_RC.h
index 2e8c6894e0..236f85593d 100644
--- a/libraries/APM_RC/APM_RC.h
+++ b/libraries/APM_RC/APM_RC.h
@@ -20,6 +20,7 @@ class APM_RC_Class
 	void Force_Out2_Out3(void);
 	void Force_Out6_Out7(void);
 	bool setHIL(int16_t v[NUM_CHANNELS]);
+	void clearOverride(void);
 
   private:
 	int16_t _HIL_override[NUM_CHANNELS];