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Merge pull request #7352 from etracer65/stage1_failsafe_auto_3d_fix

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Fix stage 1 failsafe throttle "auto" setting for switched 3D modes
This commit is contained in:
Michael Keller 2019-01-11 02:34:38 +13:00 • committed by GitHub
commit 970e8fe46b
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3 changed files with 9 additions and 2 deletions
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5
src/main/rx/rx.c
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@ -470,10 +470,11 @@ static uint16_t getRxfailValue(uint8_t channel)
case YAW:
return rxConfig()->midrc;
case THROTTLE:
if (featureIsEnabled(FEATURE_3D))
if (featureIsEnabled(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3D) && !flight3DConfig()->switched_mode3d) {
return rxConfig()->midrc;
else
} else {
return rxConfig()->rx_min_usec;
}
}
/* no break */

3
src/test/unit/rx_ranges_unittest.cc
View file

@ -37,6 +37,9 @@ extern "C" {
#include "gtest/gtest.h"
extern "C" {
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
boxBitmask_t rcModeActivationMask;
int16_t debug[DEBUG16_VALUE_COUNT];
uint8_t debugMode = 0;

3
src/test/unit/rx_rx_unittest.cc
View file

@ -26,6 +26,7 @@ extern "C" {
#include "pg/rx.h"
#include "build/debug.h"
#include "drivers/io.h"
#include "fc/rc_controls.h"
#include "rx/rx.h"
#include "fc/rc_modes.h"
#include "common/maths.h"
@ -44,6 +45,8 @@ extern "C" {
PG_RESET_TEMPLATE(featureConfig_t, featureConfig,
.enabledFeatures = 0
);
PG_REGISTER(flight3DConfig_t, flight3DConfig, PG_MOTOR_3D_CONFIG, 0);
}
#include "unittest_macros.h"