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bug fixed: home mode with RC on leads to bursts of PPRZ_MODE messages.

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It seems to crash the AP on a tiny. Why ???
This commit is contained in:
Pascal Brisset
2006-07-18 11:25:48 +00:00
parent 5ca5ac53b9
commit f33ff467ec
1 changed files with 3 additions and 3 deletions
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sw/airborne/main_ap.c
+3 -3
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@@ -222,7 +222,7 @@ inline void telecommand_task( void ) {
copy_from_to_fbw();
uint8_t really_lost = bit_is_set(fbw_state->status, RADIO_REALLY_LOST) && (pprz_mode == PPRZ_MODE_AUTO1 || pprz_mode == PPRZ_MODE_MANUAL);
if (launch && (really_lost || too_far_from_home)) {
if (pprz_mode != PPRZ_MODE_HOME && pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER && launch && (really_lost || too_far_from_home)) {
pprz_mode = PPRZ_MODE_HOME;
mode_changed = TRUE;
}
@@ -381,6 +381,7 @@ void periodic_task_ap( void ) {
if (!_10Hz) {
stage_time_ds = stage_time_ds + .1;
reporting_task();
}
@@ -469,7 +470,6 @@ void periodic_task_ap( void ) {
inter_mcu_received_ap = TRUE;
#endif
}
}
@@ -650,4 +650,4 @@ void event_task_ap( void ) {
inter_mcu_received_fbw = FALSE;
telecommand_task();
}
}
} /* event_task_ap() */