From 2b88d65e0c3fb705e753ce2fcc217b369ba9218c Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Sat, 29 Sep 2012 11:58:55 +1000
Subject: [PATCH] OBC_APM: fixed bug for calibration in manual mode
---
libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
index 384dc0a90..d9e419123 100644
--- a/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
+++ b/libraries/APM_OBC/Failsafe_Board/Failsafe_Board.pde
@@ -125,7 +125,7 @@ static void set_servos_terminate(uint8_t obc_mode)
{
set_mux_mode(MUX_MODE_MICRO);
if (obc_mode) {
- set_servos(1100, 1824, 1040, 1131);
+ set_servos(1260, 1730, 1040, 1400);
} else {
set_servos(1500, 1500, 1200, 1500);
}
@@ -254,7 +254,7 @@ void loop()
termination_counter++;
} else if (heartbeat_backup_ok && terminate_backup) {
termination_counter++;
- } else if (obc_mode && !heartbeat_primary_ok && !heartbeat_backup_ok) {
+ } else if (obc_mode && !heartbeat_primary_ok && !heartbeat_backup_ok && !manual_mode) {
// if in OBC mode and neither autopilot is OK, then
// terminate
termination_counter++;
--
GitLab