Add clearOverride message to allow failsafe recovery from joystick control

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2540 f9c3cf11-9bcb-44bc-f272-b75c42450872

libraries/APM_RC/APM_RC.cpp

@@ -214,6 +214,14 @@ bool APM_RC_Class::setHIL(int16_t v[NUM_CHANNELS])
 	radio_status = 1;
 }
 
+void APM_RC_Class::clearOverride(void)
+{
+	for (unsigned char i=0; i<NUM_CHANNELS; i++) {
+		_HIL_override[i] = 0;
+	}
+}
+
+
 // make one instance for the user to use
 APM_RC_Class APM_RC;
 

libraries/APM_RC/APM_RC.h

@@ -20,6 +20,7 @@ class APM_RC_Class
 	void Force_Out2_Out3(void);
 	void Force_Out6_Out7(void);
 	bool setHIL(int16_t v[NUM_CHANNELS]);
+	void clearOverride(void);
 
   private:
 	int16_t _HIL_override[NUM_CHANNELS];