Failsafe functions

I am pouring thru all of the C code for ArduPilot and get most of it. I am having some difficulty understanding all that is done in the FailSafe code. Can anyone summarize what all is going on or point me to a reference?

Thanks

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ModeratorPermalink Reply by Chris Anderson on March 16, 2009 at 2:40pm
As you no doubt figured out, that is just for the attiny processor on the board. It uses an interrupt-driven process to watch the PWM on the enable channel, looking for signals in three ranges: down, middle and up. It then sets Atmega pins 4 and 5 and the multiplexer switch pin high or low depending on which state it sees.
Permalink Reply by John_Mac on March 16, 2009 at 7:04pm
Yes I saw the 200us timer interrupt. But there is an external interrupt and the Watch Dog Timer which I assume interrupts every sec to reset a lockup? What is the external interrupt?

Sorry for all the questions...trying to understand all of the code line by line.

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