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Merge pull request #1255 from ProDrone/pr1233_rxfail_mode_changes_1

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Changed behavior of PR #1233 - solves issue #1254
This commit is contained in:
Dominic Clifton 2015-09-05 23:01:11 +01:00
commit 9208b8701a
5 changed files with 45 additions and 27 deletions
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8
src/main/rx/rx.c
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@ -359,27 +359,29 @@ static uint16_t getRxfailValue(uint8_t channel)
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.
/* no break */
default:
case RX_FAILSAFE_MODE_INVALID:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step);
}
}
STATIC_UNIT_TESTED uint16_t applyRxChannelRangeConfiguraton(int sample, rxChannelRangeConfiguration_t range)