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Some failsafe hack when RC signal is lost

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Julian Oes
2012-11-06 19:01:04 -08:00
parent e0e96c005a
commit 08d6ade585
1 changed files with 8 additions and 0 deletions
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apps/multirotor_att_control/multirotor_att_control_main.c
+8
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@@ -226,6 +226,14 @@ mc_thread_main(int argc, char *argv[])
att_sp.yaw_body = att.yaw; att_sp.yaw_body = att.yaw;
} }
att_sp.thrust = manual.throttle; att_sp.thrust = manual.throttle;
if(state.rc_signal_lost) {
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = 0.4f;
}
att_sp.timestamp = hrt_absolute_time(); att_sp.timestamp = hrt_absolute_time();
} }
/* STEP 2: publish the result to the vehicle actuators */ /* STEP 2: publish the result to the vehicle actuators */