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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 10:34:35 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-05 10:34:35 +0200 |
| commit | 797698a7a114032c7eea62c5f48f2b229ca973b7 (patch) | |
| tree | aabfdf856b70ea2834b0e72e43ecaaafc080af3d /src/modules/sensors/sensors.cpp | |
| parent | fb44ad8e22f2a0862f1d7bda66643a6336247024 (diff) | |
| download | px4-firmware-797698a7a114032c7eea62c5f48f2b229ca973b7.tar.gz px4-firmware-797698a7a114032c7eea62c5f48f2b229ca973b7.tar.bz2 px4-firmware-797698a7a114032c7eea62c5f48f2b229ca973b7.zip | |
Trigger failsafe action also on failsafe flag
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index 2442acd6b..4c34d853f 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1309,7 +1309,7 @@ Sensors::rc_poll() } /* check for failsafe */ - if (((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) + if (rc_input.rc_failsafe || ((rc_input.values[_rc.function[THROTTLE]] < _parameters.min[i]) && (rc_input.values[_rc.function[THROTTLE]] < _parameters.rc_fs_thr)) || ((rc_input.values[_rc.function[THROTTLE]] > _parameters.max[i]) && (rc_input.values[_rc.function[THROTTLE]] > _parameters.rc_fs_thr))) { /* do not publish manual control setpoints when there are none */ return; |