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Merge pull request #1233 from cleanflight/rxfail-auto-mode

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Failsafe - Add rxfail `auto` mode.
This commit is contained in:
Dominic Clifton 2015-08-20 02:05:51 +01:00
commit 3f8363f908
6 changed files with 105 additions and 61 deletions
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27
src/main/rx/rx.c
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@ -343,22 +343,23 @@ static uint16_t calculateNonDataDrivenChannel(uint8_t chan, uint16_t sample)
static uint16_t getRxfailValue(uint8_t channel)
{
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
}
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_aux_channel_configurations[channel - NON_AUX_CHANNEL_COUNT];
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel];
switch(channelFailsafeConfiguration->mode) {
default:
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
}
// fall though to HOLD if there's nothing specific to do.
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];