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  ... (line #306, MultiWii.pde)
  if (currentTime > (rcTime + 20000) ) { // 50Hz
    rcTime = currentTime; 
    computeRC();
    // Failsafe routine - added by MIS
    #if defined(FAILSAFE)
      if ( failsafeCnt > (5*FAILSAVE_DELAY) && armed==1) {                  // Stabilize, and set Throttle to specified level
        for(i=0; i<3; i++) rcData[i] = MIDRC;                               // after specified guard time after RC signal is lost (in 0.1sec)
        rcData[THROTTLE] = FAILSAVE_THR0TTLE;
        if (failsafeCnt > 5*(FAILSAVE_DELAY+FAILSAVE_OFF_DELAY)) armed = 0; // Turn OFF motors after specified Time (in 0.1sec)
      }
      failsafeCnt++;
    #endif
    // end of failsave routine - next change is made with RcOptions setting 
    // -- begin of block -ar
    if (rcData[THROTTLE] < THROTTLE_CUT) {
      if (armed) {
          armed = 0;
          writeAllMotors(MINCOMMAND);
      }    
      else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK) {
        servo[0] = 1500; //we center the yaw gyro in conf mode
        writeServos();
        
        #if defined(LCD_CONF)
          configurationLoop(); //beginning LCD configuration
        #endif
        previousTime = micros();
      }
    }
    else // end of block -ar
    if (rcData[THROTTLE] < MINCHECK) {
      errorGyroI[ROLL] = 0; errorGyroI[PITCH] = 0; errorGyroI[YAW] = 0;
      errorAngleI[ROLL] = 0; errorAngleI[PITCH] = 0;
      rcDelayCommand++;
      if (rcData[YAW] < MINCHECK && rcData[PITCH] < MINCHECK && armed == 0) {
        if (rcDelayCommand == 20) calibratingG=400;
//
// -ar - moved LCD_Config mode inside of above block (stick positions are too close to arming of motors...)
//
//      } else if (rcData[YAW] > MAXCHECK && rcData[PITCH] > MAXCHECK && armed == 0) {
//        if (rcDelayCommand == 20) {
//          servo[0] = 1500; //we center the yaw gyro in conf mode
//          writeServos();
//          #if defined(LCD_CONF)
//            configurationLoop(); //beginning LCD configuration
//          #endif
//          previousTime = micros();
//        }
      } else if (activate[BOXARM] > 0) {
...

Code: Alles auswählen

#define THROTTLE_CUT <hier einen Wert unter 1000 eintragen>