From 505d2d68d6818d4a4608b880dffb54e4725ef1e7 Mon Sep 17 00:00:00 2001
From: Jonathan Challinger <mr.challinger@gmail.com>
Date: Fri, 9 May 2014 23:44:07 -0700
Subject: [PATCH] Copter: protect loiter controller from bad inputs during
failsafe
---
ArduCopter/ArduCopter.pde | 9 +++++++--
1 file changed, 7 insertions(+), 2 deletions(-)
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 63c9fbd02..cb1f3ff65 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1719,8 +1719,13 @@ void update_roll_pitch_mode(void)
control_roll = g.rc_1.control_in;
control_pitch = g.rc_2.control_in;
- // update loiter target from user controls
- wp_nav.move_loiter_target(control_roll, control_pitch,0.01f);
+ if(failsafe.radio) {
+ // don't allow loiter target to move during failsafe
+ wp_nav.move_loiter_target(0.0f, 0.0f, 0.01f);
+ } else {
+ // update loiter target from user controls
+ wp_nav.move_loiter_target(g.rc_1.control_in, g.rc_2.control_in, 0.01f);
+ }
// copy latest output from nav controller to stabilize controller
nav_roll = wp_nav.get_desired_roll();
--
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