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Decoupling failsafe and RX code; Making RX code independent of RX provider

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Konstantin (DigitalEntity) Sharlaimov 2017-04-25 23:07:36 +10:00 • committed by Konstantin Sharlaimov (DigitalEntity)
parent d46272dcd4
commit b240b7571c
6 changed files with 118 additions and 166 deletions
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4
src/main/fc/rc_controls.c
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@ -181,9 +181,7 @@ void processRcStickPositions(throttleStatus_e throttleStatus, bool disarm_kill_s
if (ARMING_FLAG(ARMED) && !IS_RC_MODE_ACTIVE(BOXFAILSAFE) && rxIsReceivingSignal() && !failsafeIsActive()) {
rcDisarmTicks++;
if (rcDisarmTicks > 3) { // Wait for at least 3 RX ticks (60ms @ 50Hz RX)
if (disarm_kill_switch) {
mwDisarm(DISARM_SWITCH);
} else if (throttleStatus == THROTTLE_LOW) {
if (disarm_kill_switch || (throttleStatus == THROTTLE_LOW)) {
mwDisarm(DISARM_SWITCH);
}
}