From 98a41ab005592c359918929bab8a6b889768370a Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Tue, 8 Dec 2020 14:39:11 +0900 Subject: [PATCH] Copter: FS_OPTIONS defaults to continue pilot controlled modes on GCS failsafe --- ArduCopter/Parameters.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 99ff0c9cce..ae04f03ace 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -953,7 +953,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = { // @Values: 0:Disabled, 1:Continue if in Auto on RC failsafe only, 2:Continue if in Auto on GCS failsafe only, 3:Continue if in Auto on RC and/or GCS failsafe, 4:Continue if in Guided on RC failsafe only, 8:Continue if landing on any failsafe, 16:Continue if in pilot controlled modes on GCS failsafe, 19:Continue if in Auto on RC and/or GCS failsafe and continue if in pilot controlled modes on GCS failsafe // @Bitmask: 0:Continue if in Auto on RC failsafe, 1:Continue if in Auto on GCS failsafe, 2:Continue if in Guided on RC failsafe, 3:Continue if landing on any failsafe, 4:Continue if in pilot controlled modes on GCS failsafe, 5:Release Gripper // @User: Advanced - AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, 0), + AP_GROUPINFO("FS_OPTIONS", 36, ParametersG2, fs_options, (float)Copter::FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL), #if MODE_AUTOROTATE_ENABLED == ENABLED // @Group: AROT_ @@ -1568,7 +1568,7 @@ void Copter::convert_fs_options_params(void) } // Variable to capture the new FS_OPTIONS setting - int32_t fs_options_converted = 0; + int32_t fs_options_converted = (int32_t)FailsafeOption::GCS_CONTINUE_IF_PILOT_CONTROL; // If FS_THR_ENABLED is 2 (continue mission), change to RTL and add continue mission to the new FS_OPTIONS parameter if (g.failsafe_throttle == FS_THR_ENABLED_CONTINUE_MISSION) {