diff --git a/ArduPlane/failsafe.pde b/ArduPlane/failsafe.pde index beb7acd7a0e7f9b28310f7e86e8b7e12d65a8a44..3d96102707ef2ed9c221272dd32ff3f0d1c06dfb 100644 --- a/ArduPlane/failsafe.pde +++ b/ArduPlane/failsafe.pde @@ -37,8 +37,14 @@ void failsafe_check(void) } if (in_failsafe && tnow - last_timestamp > 20000) { - // pass RC inputs to outputs every 20ms last_timestamp = tnow; + + if (hal.rcin->num_channels() == 0) { + // we don't have any RC input to pass through + return; + } + + // pass RC inputs to outputs every 20ms hal.rcin->clear_overrides(); channel_roll->radio_out = channel_roll->read(); channel_pitch->radio_out = channel_pitch->read();