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Disable failsafe until its actually tested

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Lorenz Meier 2012-11-09 16:20:23 +01:00
parent 754572f25a
commit a866fb2f2c
1 changed files with 24 additions and 9 deletions
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33
apps/multirotor_att_control/multirotor_att_control_main.c
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@ -234,15 +234,30 @@ mc_thread_main(int argc, char *argv[])
}
att_sp.thrust = manual.throttle;
/* if the RC signal is lost, try to stay level and go slowly back down to ground */
if(state.rc_signal_lost) {
/* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
param_get(failsafe_throttle_handle, &failsafe_throttle);
att_sp.roll_body = 0.0f;
att_sp.pitch_body = 0.0f;
att_sp.yaw_body = 0.0f;
att_sp.thrust = failsafe_throttle;
}
// XXX disable this for now until its better checked
// static bool rc_loss_first_time = true;
// /* if the RC signal is lost, try to stay level and go slowly back down to ground */
// if(state.rc_signal_lost) {
// /* the failsafe throttle is stored as a parameter, as it depends on the copter and the payload */
// param_get(failsafe_throttle_handle, &failsafe_throttle);
// att_sp.roll_body = 0.0f;
// att_sp.pitch_body = 0.0f;
// /* keep current yaw, do not attempt to go to north orientation,
// * since if the pilot regains RC control, he will be lost regarding
// * the current orientation.
// */
// if (rc_loss_first_time)
// att_sp.yaw_body = att.yaw;
// // XXX hard-limit it to prevent ballistic mishaps - this is just supposed to
// // slow a crash down, not actually keep the system in-air.
// att_sp.thrust = (failsafe_throttle < 0.5f) : failsafe_throttle ? 0.5f;
// rc_loss_first_time = false;
// } else {
// rc_loss_first_time = true;
// }
att_sp.timestamp = hrt_absolute_time();
}