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[rotorcraft] don't force failsafe commands if motors are off

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This commit is contained in:
Felix Ruess
2012-04-26 16:10:32 +02:00
parent 4a3b14581e
commit 23caa9ea03
1 changed files with 6 additions and 3 deletions
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sw/airborne/firmwares/rotorcraft/autopilot.c
+6 -3
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@@ -93,11 +93,14 @@ void autopilot_periodic(void) {
autopilot_detect_ground = FALSE; autopilot_detect_ground = FALSE;
} }
#endif #endif
if ( !autopilot_motors_on ||
/* set failsafe commands, if in FAILSAFE or KILL mode */
#ifndef FAILSAFE_GROUND_DETECT #ifndef FAILSAFE_GROUND_DETECT
autopilot_mode == AP_MODE_FAILSAFE || if (autopilot_mode == AP_MODE_KILL ||
autopilot_mode == AP_MODE_FAILSAFE) {
#else
if (autopilot_mode == AP_MODE_KILL) {
#endif #endif
autopilot_mode == AP_MODE_KILL ) {
SetCommands(commands_failsafe, SetCommands(commands_failsafe,
autopilot_in_flight, autopilot_motors_on); autopilot_in_flight, autopilot_motors_on);
} }