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Made failsafe more intuitive. Default (0) maps to whatever channel is throttle. If a non-zero value is entered, a direct channel map is used so use

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This commit is contained in:
TickTock- 2014-04-22 23:19:04 -07:00
parent 81c03154b9
commit 971e8fc4ff
2 changed files with 8 additions and 20 deletions
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23
src/modules/sensors/sensor_params.c
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@ -538,28 +538,13 @@ PARAM_DEFINE_INT32(RC_MAP_PITCH, 2);
/**
* Failsafe channel mapping.
*
* The RC mapping index indicates which rc function
* should be used for detecting the failsafe condition
* The RC mapping index indicates which channel is used for failsafe
* If 0, whichever channel is mapped to throttle is used
* otherwise the value indicates the specific rc channel to use
*
* @min 0
* @max 14
* @max 18
*
* mapping (from rc_channels.h)
* THROTTLE = 0,
ROLL = 1,
PITCH = 2,
YAW = 3,
MODE = 4,
RETURN = 5,
ASSISTED = 6,
MISSION = 7,
OFFBOARD_MODE = 8,
FLAPS = 9,
AUX_1 = 10,
AUX_2 = 11,
AUX_3 = 12,
AUX_4 = 13,
AUX_5 = 14,
*
*/
PARAM_DEFINE_INT32(RC_MAP_FAILSAFE, 0); //Default to throttle function

5
src/modules/sensors/sensors.cpp
View File

@ -1379,7 +1379,10 @@ Sensors::rc_poll()
signal_lost = false;
/* check failsafe */
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe];
int8_t fs_ch = _rc.function[_parameters.rc_map_failsafe]; // get channel mapped to throttle
if (_parameters.rc_map_failsafe>0){ // if not 0, use channel number instead of rc.function mapping
fs_ch = _parameters.rc_map_failsafe - 1;
}
if (_parameters.rc_fails_thr > 0 && fs_ch >= 0) {
/* failsafe configured */
if ((_parameters.rc_fails_thr < _parameters.min[fs_ch] && rc_input.values[fs_ch] < _parameters.rc_fails_thr) ||