static uint16_t getRxfailValue(uint8_t channel)
{
rxFailsafeChannelConfiguration_t *channelFailsafeConfiguration = &rxConfig->failsafe_channel_configurations[channel];
switch(channelFailsafeConfiguration->mode) {
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig->midrc;
else
return rxConfig->rx_min_usec;
}
/* no break */
default:
case RX_FAILSAFE_MODE_INVALID:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(channelFailsafeConfiguration->step);
}
}
static uint16_t getRxfailValue(uint8_t channel)
{
rxFailsafeChannelConfig_t *failsafeChannelConfig = failsafeChannelConfigs(channel);
uint8_t mode = failsafeChannelConfig->mode;
// force auto mode to prevent fly away when failsafe stage 2 is disabled
if ( channel < NON_AUX_CHANNEL_COUNT && (!feature(FEATURE_FAILSAFE)) ) {
mode = RX_FAILSAFE_MODE_AUTO;
}
switch(mode) {
case RX_FAILSAFE_MODE_AUTO:
switch (channel) {
case ROLL:
case PITCH:
case YAW:
return rxConfig()->midrc;
case THROTTLE:
if (feature(FEATURE_3D))
return rxConfig()->midrc;
else
return rxConfig()->rx_min_usec;
}
/* no break */
default:
case RX_FAILSAFE_MODE_INVALID:
case RX_FAILSAFE_MODE_HOLD:
return rcData[channel];
case RX_FAILSAFE_MODE_SET:
return RXFAIL_STEP_TO_CHANNEL_VALUE(failsafeChannelConfig->step);
}
}
