From 7bee3d1751f4a5ed28c9be03ce43f17c9634b8c9 Mon Sep 17 00:00:00 2001
From: Oleg Kalachev <okalachev@gmail.com>
Date: Sun, 12 Oct 2025 21:20:46 +0300
Subject: [PATCH] Improve rc failsafe logic Don't trigger failsafe if there's
 no RC at all Use AUTO mode for descending, instead of STAB Increase RC loss
 timeout and descend time

---
 flix/failsafe.ino | 18 ++++++++----------
 1 file changed, 8 insertions(+), 10 deletions(-)

diff --git a/flix/failsafe.ino b/flix/failsafe.ino
index 1767b1f..77ddd2a 100644
--- a/flix/failsafe.ino
+++ b/flix/failsafe.ino
@@ -3,8 +3,8 @@
 
 // Fail-safe functions
 
-#define RC_LOSS_TIMEOUT 0.5
-#define DESCEND_TIME 3.0 // time to descend from full throttle to zero
+#define RC_LOSS_TIMEOUT 1
+#define DESCEND_TIME 10
 
 extern double controlTime;
 extern float controlRoll, controlPitch, controlThrottle, controlYaw;
@@ -16,7 +16,7 @@ void failsafe() {
 
 // RC loss failsafe
 void rcLossFailsafe() {
-	if (mode == AUTO) return;
+	if (controlTime == 0) return; // no RC at all
 	if (!armed) return;
 	if (t - controlTime > RC_LOSS_TIMEOUT) {
 		descend();
@@ -25,14 +25,12 @@ void rcLossFailsafe() {
 
 // Smooth descend on RC lost
 void descend() {
-	mode = STAB;
-	controlRoll = 0;
-	controlPitch = 0;
-	controlYaw = 0;
-	controlThrottle -= dt / DESCEND_TIME;
-	if (controlThrottle < 0) {
+	mode = AUTO;
+	attitudeTarget = Quaternion();
+	thrustTarget -= dt / DESCEND_TIME;
+	if (thrustTarget < 0) {
+		thrustTarget = 0;
 		armed = false;
-		controlThrottle = 0;
 	}
 }