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Copter: reject bad RC inputs during failsafe

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Jonathan Challinger 2014-05-09 23:44:07 -07:00 committed by Randy Mackay
parent 7195ba13be
commit effc75f50f
1 changed files with 14 additions and 4 deletions
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18
ArduCopter/ArduCopter.pde
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@ -1674,8 +1674,13 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
if(failsafe.radio) {
// don't allow copter to fly away during failsafe
get_pilot_desired_lean_angles(0.0f, 0.0f, control_roll, control_pitch);
} else {
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
}
// pass desired roll, pitch to stabilize attitude controllers
get_stabilize_roll(control_roll);
@ -1699,8 +1704,13 @@ void update_roll_pitch_mode(void)
// apply SIMPLE mode transform
update_simple_mode();
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
if(failsafe.radio) {
// don't allow copter to fly away during failsafe
get_pilot_desired_lean_angles(0.0f, 0.0f, control_roll, control_pitch);
} else {
// convert pilot input to lean angles
get_pilot_desired_lean_angles(g.rc_1.control_in, g.rc_2.control_in, control_roll, control_pitch);
}
// mix in user control with optical flow
get_stabilize_roll(get_of_roll(control_roll));