rooty/LibrePilot
1
0
Fork 0
mirror of https://bitbucket.org/librepilot/librepilot.git synced 2024-12-02 10:24:11 +01:00
Code Issues Releases Activity

Flight/Actuator: Add failsafe for when flying via GCS to disarm at

Browse Source 
lost connection

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@2067 ebee16cc-31ac-478f-84a7-5cbb03baadba
This commit is contained in:
peabody124 2010-11-04 02:30:47 +00:00 committed by peabody124
parent d72f60274d
commit c69c4157f1
1 changed files with 9 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
flight/OpenPilot/Modules/Actuator/actuator.c
View File

@ -36,6 +36,7 @@
//#include "vtolsettings.h"
#include "systemsettings.h"
#include "actuatordesired.h"
#include "flighttelemetrystats.h"
#include "actuatorcommand.h"
#include "manualcontrolcommand.h"
#include "mixersettings.h"
@ -179,6 +180,14 @@ static void actuatorTask(void* parameters)
AlarmsClear(SYSTEMALARMS_ALARM_ACTUATOR);
bool armed = manualControl.Armed == MANUALCONTROLCOMMAND_ARMED_TRUE;
if(ManualControlCommandReadOnly(&manualControl)) {
/* when being controlled by GCS check for connection still intact */
/* eventually this lost connection (like lost RX) will trigger */
/* a failsafe flight pattern */
FlightTelemetryStatsData flightStats;
FlightTelemetryStatsGet(&flightStats);
armed &= (flightStats.Status == FLIGHTTELEMETRYSTATS_STATUS_CONNECTED);
}
armed &= desired.Throttle > 0.05; //zero throttle stops the motors
float curve1 = MixerCurve(desired.Throttle,mixerSettings.ThrottleCurve1);