From bf0a52af9422b8364364a457f3ac22a59a3a29e3 Mon Sep 17 00:00:00 2001 From: dewagter Date: Thu, 20 Nov 2014 14:13:36 +0100 Subject: [PATCH] [OBC2014] Irrevisible failsafe on RC loss made optional in OBC rules --- sw/airborne/firmwares/fixedwing/main_fbw.c | 5 ++++- 1 file changed, 4 insertions(+), 1 deletion(-) diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c index 2f15979bbb7..701bda65aa6 100644 --- a/sw/airborne/firmwares/fixedwing/main_fbw.c +++ b/sw/airborne/firmwares/fixedwing/main_fbw.c @@ -314,8 +314,11 @@ void periodic_task_fbw( void ) { #if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP #warning WARNING DANGER: OUTBACK_CHALLENGE RULE RC_LOST_NO_AP defined. If you loose RC you will NOT go to automatically go to AUTO2 Anymore!! set_failsafe_mode(); +#if OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE +#warning WARNING DANGER: OUTBACK_CHALLENGE_DANGEROUS_RULE_RC_LOST_NO_AP_IRREVERSIBLE defined. If you ever temporarly lost RC while in manual, you will failsafe forever even if RC is restored commands[COMMAND_FORCECRASH] = 9600; -#else +#endif + #else fbw_mode = FBW_MODE_AUTO; #endif }