From aabcc2bb35c775179f124cfd40e381b4f9f0bb99 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell <tridge@samba.org> Date: Thu, 10 Apr 2014 07:43:48 +1000 Subject: [PATCH] Plane: fixed a bug in PWM based throttle failsafe many thanks to Sam Tabor for finding this bug! --- ArduPlane/radio.pde | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/ArduPlane/radio.pde b/ArduPlane/radio.pde index fc24bb593..1c396bf89 100644 --- a/ArduPlane/radio.pde +++ b/ArduPlane/radio.pde @@ -177,7 +177,10 @@ static void control_failsafe(uint16_t pwm) channel_roll->radio_in = channel_roll->radio_trim; channel_pitch->radio_in = channel_pitch->radio_trim; channel_rudder->radio_in = channel_rudder->radio_trim; - channel_throttle->radio_in = channel_throttle->radio_min; + + // note that we don't set channel_throttle->radio_in to radio_trim, + // as that would cause throttle failsafe to not activate + channel_roll->control_in = 0; channel_pitch->control_in = 0; channel_rudder->control_in = 0; -- GitLab