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| author | Julian Oes <joes@student.ethz.ch> | 2012-11-06 19:01:04 -0800 |
|---|---|---|
| committer | Julian Oes <joes@student.ethz.ch> | 2012-11-06 19:01:04 -0800 |
| commit | 08d6ade585200e2c6bed73d02ebfe990e6929446 (patch) | |
| tree | c67e6fc2e4a210fe895cc48c848b88b19e400d86 /apps/multirotor_att_control | |
| parent | e0e96c005aab8b35f68ea3def75f5e762a115d32 (diff) | |
| download | px4-firmware-08d6ade585200e2c6bed73d02ebfe990e6929446.tar.gz px4-firmware-08d6ade585200e2c6bed73d02ebfe990e6929446.tar.bz2 px4-firmware-08d6ade585200e2c6bed73d02ebfe990e6929446.zip | |
Some failsafe hack when RC signal is lost
Diffstat (limited to 'apps/multirotor_att_control')
| -rw-r--r-- | apps/multirotor_att_control/multirotor_att_control_main.c | 8 |
1 files changed, 8 insertions, 0 deletions
diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c index 29463d744..bfa5e1b1f 100644 --- a/apps/multirotor_att_control/multirotor_att_control_main.c +++ b/apps/multirotor_att_control/multirotor_att_control_main.c @@ -226,6 +226,14 @@ mc_thread_main(int argc, char *argv[]) att_sp.yaw_body = att.yaw; } att_sp.thrust = manual.throttle; + + if(state.rc_signal_lost) { + att_sp.roll_body = 0.0f; + att_sp.pitch_body = 0.0f; + att_sp.yaw_body = 0.0f; + att_sp.thrust = 0.4f; + } + att_sp.timestamp = hrt_absolute_time(); } /* STEP 2: publish the result to the vehicle actuators */ |