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| Rev 2056 | Rev 2058 | ||
|---|---|---|---|
| Line 44... | Line 44... | ||
| 44 | // stop motors but stay in emergency flight. |
44 | // stop motors but stay in emergency flight. |
| 45 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
45 | MKFlags &= ~(MKFLAG_MOTOR_RUN); |
| 46 | } |
46 | } |
| 47 | } |
47 | } |
| Line 48... | Line 48... | ||
| 48 | 48 | ||
| 49 | // In either case, use e. throttle. |
49 | // In either case, use e. throttle and neutral controls. TODO: If there is supposed to be a navi come-home, this should affect RC control only and not navi. |
| - | 50 | PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
|
| 50 | PRTY[CONTROL_THROTTLE] = staticParams.emergencyThrottle; // Set emergency throttle |
51 | PRTY[CONTROL_PITCH] = PRTY[CONTROL_ROLL] = PRTY[CONTROL_YAW] = 0; |
| 51 | } else { |
52 | } else { |
| 52 | // Signal is OK. |
53 | // Signal is OK. |
| 53 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
54 | if (MKFlags & MKFLAG_EMERGENCY_FLIGHT) { |
| 54 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |
55 | MKFlags &= ~MKFLAG_EMERGENCY_FLIGHT; // Clear flag for emergency landing |