From a2997704ebf31fd4ae5f1b766a851b2215378e6c Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Tue, 31 Dec 2013 10:58:49 +1100 Subject: [PATCH] HAL_PX4: removed code which drops throttle to 900 on loss of RC rely on vehicle code checking for last data coming in --- libraries/AP_HAL_PX4/RCInput.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/libraries/AP_HAL_PX4/RCInput.cpp b/libraries/AP_HAL_PX4/RCInput.cpp index 14344c1ecc..4e60c4c938 100644 --- a/libraries/AP_HAL_PX4/RCInput.cpp +++ b/libraries/AP_HAL_PX4/RCInput.cpp @@ -89,10 +89,9 @@ void PX4RCInput::_timer_tick(void) if (orb_check(_rc_sub, &rc_updated) == 0 && rc_updated) { orb_copy(ORB_ID(input_rc), _rc_sub, &_rcin); _last_input = _rcin.timestamp; - } else if (hrt_absolute_time() - _last_input > 300000) { - // we've lost RC input, force channel 3 low - _rcin.values[2] = 900; } + // note, we rely on the vehicle code checking valid_channels() + // and a timeout for the last valid input to handle failsafe perf_end(_perf_rcin); }