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rcTime = currentTime + 20000;
computeRC();
// Failsafe routine - added by MIS
#if defined(FAILSAFE)
if ( failsafeCnt > (5*FAILSAFE_DELAY) && f.ARMED) { // Stabilize, and
set Throttle to specified level
for(i=0; i<3; i++) rcData[i] = MIDRC; // after specified gu
ard time after RC signal is lost (in 0.1sec)
rcData[THROTTLE] = conf.failsafe_throttle;
if (failsafeCnt > 5*(FAILSAFE_DELAY+FAILSAFE_OFF_DELAY)) { // Turn OFF
motors after specified Time (in 0.1sec)
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts
it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will hav
e to switch off first to rearm
}
failsafeEvents++;
}
if ( failsafeCnt > (5*FAILSAFE_DELAY) && !f.ARMED) { //Turn of "Ok To arm to preven
t the motors from spinning after repowering the RX with low throttle and aux to arm
go_disarm(); // This will prevent the copter to automatically rearm if failsafe shuts
it down and prevents
f.OK_TO_ARM = 0; // to restart accidentely by just reconnect to the tx - you will hav
e to switch off first to rearm
}
failsafeCnt++;
#endif
// end of failsafe routine - next change is made with RcOptions setting

// ------------------ STICKS COMMAND HANDLER --------------------
// checking sticks positions
uint8_t stTmp = 0;
for(i=0;i<4;i++) {
stTmp >>= 2;
if(rcData[i] > MINCHECK) stTmp |= 0x80; // check for MIN
if(rcData[i] < MAXCHECK) stTmp |= 0x40; // check for MAX
}
if(stTmp == rcSticks) {
if(rcDelayCommand<250) rcDelayCommand++;
} else rcDelayCommand = 0;
rcSticks = stTmp;

// perform actions
if (rcData[THROTTLE] <= MINCHECK) { // THROTTLE at minimum
#if !defined(FIXEDWING)

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