int8_t Plane::test_failsafe(uint8_t argc, const Menu::arg *argv)
{
uint8_t fail_test;
print_hit_enter();
for(int16_t i = 0; i < 50; i++) {
hal.scheduler->delay(20);
read_radio();
}
// read the radio to set trims
// ---------------------------
trim_radio();
oldSwitchPosition = readSwitch();
cliSerial->printf_P(PSTR("Unplug battery, throttle in neutral, turn off radio.\n"));
while(channel_throttle->control_in > 0) {
hal.scheduler->delay(20);
read_radio();
}
while(1) {
hal.scheduler->delay(20);
read_radio();
if(channel_throttle->control_in > 0) {
cliSerial->printf_P(PSTR("THROTTLE CHANGED %d \n"), (int)channel_throttle->control_in);
fail_test++;
}
if(oldSwitchPosition != readSwitch()) {
cliSerial->printf_P(PSTR("CONTROL MODE CHANGED: "));
print_flight_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(rc_failsafe_active()) {
cliSerial->printf_P(PSTR("THROTTLE FAILSAFE ACTIVATED: %d, "), (int)channel_throttle->radio_in);
print_flight_mode(cliSerial, readSwitch());
cliSerial->println();
fail_test++;
}
if(fail_test > 0) {
return (0);
}
if(cliSerial->available() > 0) {
cliSerial->printf_P(PSTR("LOS caused no change in APM.\n"));
return (0);
}
}
}
void Copter::print_switch(uint8_t p, uint8_t m, bool b)
{
cliSerial->printf("Pos %d:\t",p);
print_flight_mode(cliSerial, m);
cliSerial->printf(",\t\tSimple: ");
if(b)
cliSerial->printf("ON\n");
else
cliSerial->printf("OFF\n");
}
