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Code Issues Wiki Activity

Remove the ability to disable stage 2 failsafe

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This commit is contained in:
Dan Nixon 2017-07-19 09:37:34 +01:00
parent cd5e57e814
commit e0ebee168a
8 changed files with 11 additions and 18 deletions
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12
src/main/fc/fc_core.c
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@ -337,14 +337,10 @@ void processRx(timeUs_t currentTimeUs)
updateRSSI(currentTimeUs);
if (feature(FEATURE_FAILSAFE)) {
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
if (currentTimeUs > FAILSAFE_POWER_ON_DELAY_US && !failsafeIsMonitoring()) {
failsafeStartMonitoring();
}
failsafeUpdateState();
const throttleStatus_e throttleStatus = calculateThrottleStatus();
@ -427,7 +423,7 @@ void processRx(timeUs_t currentTimeUs)
bool canUseHorizonMode = true;
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || (feature(FEATURE_FAILSAFE) && failsafeIsActive())) && (sensors(SENSOR_ACC))) {
if ((IS_RC_MODE_ACTIVE(BOXANGLE) || failsafeIsActive()) && (sensors(SENSOR_ACC))) {
// bumpless transfer to Level mode
canUseHorizonMode = false;