From 318d850719a86d58012689143c01dd0edb6263b5 Mon Sep 17 00:00:00 2001
From: Jakob Stendahl <jakob.stendahl@outlook.com>
Date: Wed, 10 Feb 2021 10:56:36 +0100
Subject: :sprakles: Add failsafe code (addressing #5)

---
 source/HoverBitController.h | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

(limited to 'source/HoverBitController.h')

diff --git a/source/HoverBitController.h b/source/HoverBitController.h
index 4963cd1..477e96e 100644
--- a/source/HoverBitController.h
+++ b/source/HoverBitController.h
@@ -27,7 +27,9 @@ DEALINGS IN THE SOFTWARE.
 
 #include <MicroBit.h>
 
-#define BATTERY_LOW_LIMIT 3500
+#define BATTERY_LOW_LIMIT   3500
+#define FSAFE_TLIM_THROTTLE 1000 // When to cut the throttle
+#define FSAFE_TLIM_ARM      5000 // When to disarm
 
 class HoverBitController {
     private:
@@ -40,16 +42,17 @@ class HoverBitController {
         int pitch;
         int yaw;
         int throttle;
-        int failSafeC;
+        unsigned long receiveTime;
 
         bool mainController;
         bool batteryEmpty;
         int batteryMilliVolt;
         float batteryFactor;
 
+        bool failSafe(void);
+
     public:
         void init(MicroBit* _uBit);
-        void failSafe(void);
         unsigned int getBatteryVoltage(void);
         void AirBit(int Pitch,int Arm,int Roll,int Throttle,int Yaw,int Aux1,int Aux2);
         void HoverControl();
-- 
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