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;
-- 
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