From 0cfe5b6c761ab388c98a9f8bbca056a93671ec1e Mon Sep 17 00:00:00 2001
From: Raphael Coeffic <rco@iptel.org>
Date: Tue, 28 Jul 2015 23:29:04 +0200
Subject: [PATCH] Added support for SBUS failsafe bit

---
 radio/src/sbus.cpp | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/radio/src/sbus.cpp b/radio/src/sbus.cpp
index ce16fe33a..9321d65d6 100644
--- a/radio/src/sbus.cpp
+++ b/radio/src/sbus.cpp
@@ -36,6 +36,11 @@
 
 #include "opentx.h"
 
+#define SBUS_FLAGS_IDX 23
+
+#define SBUS_FRAMELOST_BIT   2
+#define SBUS_FAILSAFE_BIT    3
+
 Fifo<32> sbusFifo;
 uint8_t SbusFrame[28] ;
 uint16_t SbusTimer ;
@@ -54,6 +59,11 @@ void processSbusFrame(uint8_t *sbus, int16_t *pulses, uint32_t size)
     return;
   }
 
+  if (size > SBUS_FLAGS_IDX &&
+      (sbus[SBUS_FLAGS_IDX-1] & (1<<SBUS_FAILSAFE_BIT))) {
+    return; // SBUS failsafe mode
+  }
+
   for (uint32_t i=0; i<NUM_TRAINER; i++) {
     while (inputbitsavailable < 11) {
       inputbits |= *sbus++ << inputbitsavailable;