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RC: Use ArduCopter throttle failsafe correctly

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This ensures that if the RC control is lost, the throttle channel will
drop below the ArduCopter FS_THR_VALUE in both the 3DR ArduCopter
releases and the ArduCopter master releases.  the PixRC file in SoloLink
does the same thing, so this is kind of redundent.
This commit is contained in:
Matt 2017-12-16 11:14:30 -05:00
parent 1786e4eddc
commit 276efaa94a
1 changed files with 3 additions and 3 deletions
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6
shotmanager/rcManager.py
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@ -43,7 +43,7 @@ CHANNEL8_MIN = 0
CHANNEL8_MAX = 1000
CHANNEL8_MID = ( CHANNEL8_MAX - CHANNEL8_MIN ) / 2.0 + CHANNEL8_MIN
THROTTLE_FAILSAFE = 950
THROTTLE_FAILSAFE = 900
DEAD_ZONE = 0.009
TICKS_UNTIL_RC_STALE = 20 # ticks
@ -132,7 +132,7 @@ class rcManager():
def remap(self):
if self.failsafe or self.channels == None:
# send default values to the Pixhawk
self.channels = [DEFAULT_RC_MID, DEFAULT_RC_MID, DEFAULT_RC_MID, DEFAULT_RC_MID, DEFAULT_RC_MIN, CHANNEL6_MAX, DEFAULT_RC_MIN, CHANNEL8_MID ]
self.channels = [DEFAULT_RC_MID, DEFAULT_RC_MID, THROTTLE_FAILSAFE, DEFAULT_RC_MID, DEFAULT_RC_MIN, CHANNEL6_MAX, DEFAULT_RC_MIN, CHANNEL8_MID ]
normChannels = [0]*8
@ -150,7 +150,7 @@ class rcManager():
# channel 8 (index 7) is the raw gimbal paddle and is a special case
# its values go from CHANNEL8_MIN - CHANNEL8_MAX
# this value is used to understand user input
# this value is used in smart shots where the pitch paddle is used for altitude up/down (such as in zipline free look)
# >500 = tilt up, 500 = no tilt, < 500 tilt down
normChannels[RAW_PADDLE] = self.normalizeRC( self.channels[RAW_PADDLE], CHANNEL8_MIN, CHANNEL8_MAX)