Disable failsafe until its actually tested

1 files changed, 24 insertions, 9 deletions

diff --git a/apps/multirotor_att_control/multirotor_att_control_main.c b/apps/multirotor_att_control/multirotor_att_control_main.c
index 6a8387741..3b05bfa25 100644
--- a/apps/multirotor_att_control/multirotor_att_control_main.c
+++ b/apps/multirotor_att_control/multirotor_att_control_main.c
@@ -234,15 +234,30 @@ mc_thread_main(int argc, char *argv[])
 				}
 				att_sp.thrust = manual.throttle;
 
-				/* if the RC signal is lost, try to stay level and go slowly back down to ground */
-				if(state.rc_signal_lost) {
-					/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
-					param_get(failsafe_throttle_handle, &failsafe_throttle);
-					att_sp.roll_body = 0.0f;
-					att_sp.pitch_body = 0.0f;
-					att_sp.yaw_body = 0.0f;
-					att_sp.thrust = failsafe_throttle;
-				}
+				// XXX disable this for now until its better checked
+
+				// static bool rc_loss_first_time = true;
+				// /* if the RC signal is lost, try to stay level and go slowly back down to ground */
+				// if(state.rc_signal_lost) {
+				// 	/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
+				// 	param_get(failsafe_throttle_handle, &failsafe_throttle);
+				// 	att_sp.roll_body = 0.0f;
+				// 	att_sp.pitch_body = 0.0f;
+					
+				// 	/* keep current yaw, do not attempt to go to north orientation,
+				// 	 * since if the pilot regains RC control, he will be lost regarding
+				// 	 * the current orientation.
+				//	 */
+					 
+				// 	if (rc_loss_first_time)
+				// 		att_sp.yaw_body = att.yaw;
+				// 	// XXX hard-limit it to prevent ballistic mishaps - this is just supposed to
+				// 	// slow a crash down, not actually keep the system in-air.
+				// 	att_sp.thrust = (failsafe_throttle < 0.5f) : failsafe_throttle ? 0.5f;
+				// 	rc_loss_first_time = false;
+				// } else {
+				// 	rc_loss_first_time = true;
+				// }
 
 				att_sp.timestamp = hrt_absolute_time();
 			}