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| author | TickTock- <lukecell@safe-mail.net> | 2014-04-22 23:19:04 -0700 |
|---|---|---|
| committer | TickTock- <lukecell@safe-mail.net> | 2014-04-22 23:19:04 -0700 |
| commit | 971e8fc4ffc6fc50ffaf257c473dfa86f5dc2d11 (patch) | |
| tree | 24bcb1850ab7710940c84874ce9f3b618a0de66c /src/modules/sensors/sensors.cpp | |
| parent | 81c03154b96cd3a087873de1583356df5fb4dc88 (diff) | |
| download | px4-firmware-971e8fc4ffc6fc50ffaf257c473dfa86f5dc2d11.tar.gz px4-firmware-971e8fc4ffc6fc50ffaf257c473dfa86f5dc2d11.tar.bz2 px4-firmware-971e8fc4ffc6fc50ffaf257c473dfa86f5dc2d11.zip | |
Made failsafe more intuitive. Default (0) maps to whatever channel is throttle. If a non-zero value is entered, a direct channel map is used so use
Diffstat (limited to 'src/modules/sensors/sensors.cpp')
| -rw-r--r-- | src/modules/sensors/sensors.cpp | 5 |
1 files changed, 4 insertions, 1 deletions
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp index caf0ff6fe..28c08422e 100644 --- a/src/modules/sensors/sensors.cpp +++ b/src/modules/sensors/sensors.cpp @@ -1379,7 +1379,10 @@ Sensors::rc_poll() signal_lost = false; /* check failsafe */ - int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; + int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle + if (_parameters.rc_map_failsafe>0){ // if not 0, use channel number instead of rc.function mapping + fs_ch = _parameters.rc_map_failsafe - 1; + } if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) { /* failsafe configured */ if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) || |