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OpenSource
Baitboat
Commits
cf0741f6
Commit
cf0741f6
authored
10 years ago
by
Andrew Tridgell
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Plane: don't do failsafe passthru with no RC input
thanks to Klrill-ka for the suggestion fixes issue #1302
parent
0f62dbf6
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ArduPlane/failsafe.pde
+7
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ArduPlane/failsafe.pde
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ArduPlane/failsafe.pde
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View file @
cf0741f6
...
@@ -37,8 +37,14 @@ void failsafe_check(void)
...
@@ -37,8 +37,14 @@ void failsafe_check(void)
}
}
if
(
in_failsafe
&&
tnow
-
last_timestamp
>
20000
)
{
if
(
in_failsafe
&&
tnow
-
last_timestamp
>
20000
)
{
// pass RC inputs to outputs every 20ms
last_timestamp
=
tnow
;
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
();
hal
.
rcin
->
clear_overrides
();
channel_roll
->
radio_out
=
channel_roll
->
read
();
channel_roll
->
radio_out
=
channel_roll
->
read
();
channel_pitch
->
radio_out
=
channel_pitch
->
read
();
channel_pitch
->
radio_out
=
channel_pitch
->
read
();
...
...
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