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Failsafe - Allow AUX channels to HOLD their last value or be SET to a

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specific value when RX loss is detected.

Tested with SBus, PWM & PPM.
This commit is contained in:
Dominic Clifton 2015-08-03 18:16:28 +01:00
parent 3436b08575
commit 490268d2fc
5 changed files with 73 additions and 17 deletions
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21
src/main/rx/rx.c
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@ -319,11 +319,24 @@ static uint16_t getRxfailValue(uint8_t channel)
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D)) return rxConfig->midrc;
else return rxConfig->rx_min_usec;
default:
return RXFAIL_STEP_TO_CHANNEL_VALUE(rxConfig->rx_fail_usec_steps[channel - NON_AUX_CHANNEL_COUNT]);
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];
switch(channelFailsafeConfiguration->mode) {
default:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step);
}
}
static void processRxChannels(void)