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Disable arming as soon as an RX link is lost

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This commit is contained in:
Dan Nixon 2017-07-30 15:48:02 +01:00
parent 94e3273415
commit 312a7d73b9
4 changed files with 23 additions and 2 deletions
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2
src/main/flight/failsafe.c
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@ -154,11 +154,13 @@ void failsafeOnValidDataReceived(void)
failsafeState.validRxDataReceivedAt = millis();
if ((failsafeState.validRxDataReceivedAt - failsafeState.validRxDataFailedAt) > PERIOD_RXDATA_RECOVERY) {
failsafeState.rxLinkState = FAILSAFE_RXLINK_UP;
unsetArmingDisabled(ARMING_DISABLED_RX_FAILSAFE);
}
}
void failsafeOnValidDataFailed(void)
{
setArmingDisabled(ARMING_DISABLED_RX_FAILSAFE); // To prevent arming with no RX link
failsafeState.validRxDataFailedAt = millis();
if ((failsafeState.validRxDataFailedAt - failsafeState.validRxDataReceivedAt) > failsafeState.rxDataFailurePeriod) {
failsafeState.rxLinkState = FAILSAFE_RXLINK_DOWN;