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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:02:22 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 11:02:22 +0200 |
| commit | 9a0b2b7610d39f88b627046e0d90f66aada1e88f (patch) | |
| tree | 7f1590055a77aa581a54f29e9dae4c358c13dbd8 /src/modules/px4iofirmware/controls.c | |
| parent | 9123ebce8cbc618899ece31d31c97e022038beb2 (diff) | |
| download | px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.tar.gz px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.tar.bz2 px4-firmware-9a0b2b7610d39f88b627046e0d90f66aada1e88f.zip | |
Make throttle failsafe depend on the failsafe threshold parameter. Make the parameter optional (no harm if not found).
Diffstat (limited to 'src/modules/px4iofirmware/controls.c')
| -rw-r--r-- | src/modules/px4iofirmware/controls.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/px4iofirmware/controls.c b/src/modules/px4iofirmware/controls.c index b860fc587..356fe44cd 100644 --- a/src/modules/px4iofirmware/controls.c +++ b/src/modules/px4iofirmware/controls.c @@ -264,10 +264,10 @@ controls_tick() { scaled = -scaled; } - if (mapped == 3 && (r_setup_features & PX4IO_P_SETUP_FEATURES_RC_FAIL_DETECT)) { + if (mapped == 3 && r_setup_rc_thr_failsafe) { /* throttle failsafe detection */ - if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < 800)) || - ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > 2200))) { + if (((raw < conf[PX4IO_P_RC_CONFIG_MIN]) && (raw < r_setup_rc_thr_failsafe)) || + ((raw > conf[PX4IO_P_RC_CONFIG_MAX]) && (raw > r_setup_rc_thr_failsafe))) { r_raw_rc_flags |= PX4IO_P_RAW_RC_FLAGS_FAILSAFE; } else { r_raw_rc_flags &= ~(PX4IO_P_RAW_RC_FLAGS_FAILSAFE); |