From ed42bf311fcada020a86e5a1af71045551dfd253 Mon Sep 17 00:00:00 2001
From: Pascal Langer <planger@mathworks.com>
Date: Thu, 7 Dec 2017 17:14:14 +0100
Subject: [PATCH] Failsafe

---
 Multiprotocol/Common.ino | 13 +++----------
 Multiprotocol/_Config.h  |  4 ++--
 2 files changed, 5 insertions(+), 12 deletions(-)

diff --git a/Multiprotocol/Common.ino b/Multiprotocol/Common.ino
index b0e5204..1c2be25 100644
--- a/Multiprotocol/Common.ino
+++ b/Multiprotocol/Common.ino
@@ -14,27 +14,20 @@
  */
 
 #ifdef FAILSAFE_ENABLE
-#if FAILSAFE_THROTTLE_LOW < -125
-	#undef FAILSAFE_THROTTLE_LOW
-	#define FAILSAFE_THROTTLE_LOW -125
-#elif FAILSAFE_THROTTLE_LOW > 125
-	#undef FAILSAFE_THROTTLE_LOW
-	#define FAILSAFE_THROTTLE_LOW 125
-#endif
+//Convert from percentage to failsafe value
 #define FAILSAFE_THROTTLE_LOW_VAL (((FAILSAFE_THROTTLE_LOW+125)*1024)/125)
-#if FAILSAFE_THROTTLE_LOW_VAL == 0
+#if FAILSAFE_THROTTLE_LOW_VAL <= 0
 	#undef FAILSAFE_THROTTLE_LOW_VAL
 	#define FAILSAFE_THROTTLE_LOW_VAL 1
 #elif (FAILSAFE_THROTTLE_LOW_VAL) >= 2046
 	#undef FAILSAFE_THROTTLE_LOW_VAL
 	#define FAILSAFE_THROTTLE_LOW_VAL 2046
 #endif
-//#define FAILSAFE_THROTTLE_LOW_VAL FAILSAFE_THROTTLE_LOW
 void InitFailsafe()
 {
 	for(uint8_t i=0;i<NUM_CHN;i++)
 		Failsafe_data[i]=1024;
-	Failsafe_data[THROTTLE]=FAILSAFE_THROTTLE_LOW_VAL;	//0=-125%, 204=-100%
+	Failsafe_data[THROTTLE]=(uint16_t)FAILSAFE_THROTTLE_LOW_VAL;	//0=-125%, 204=-100%
 	FAILSAFE_VALUES_on;
 	#ifdef FAILSAFE_SERIAL_ONLY
 		if(mode_select == MODE_SERIAL)
diff --git a/Multiprotocol/_Config.h b/Multiprotocol/_Config.h
index f40903a..1899a94 100644
--- a/Multiprotocol/_Config.h
+++ b/Multiprotocol/_Config.h
@@ -164,8 +164,8 @@
 //If you want to diasble failsafe globally comment the line below using "//".
 #define FAILSAFE_ENABLE
 
-//Failsafe throttle low value.
-//Value between -125% and +125%
+//Failsafe throttle low value in percentage.
+//Value between -125% and +125%. Default -100.
 #define FAILSAFE_THROTTLE_LOW -100
 
 //The radio using serial protocol can set failsafe data (ersky9x only for now).