Copter/Blimp: Do not set the same value

[muramura]

If 0, there is no need to set 0.
If it is less than 0, it would be set to 0.

[IamPete1]

This is also used to turn off the radio failsafe, so this now means it takes a extra loop to clear?

[muramura]

If the result of decrementing failsafe.radio_counter is 0, set failsafe.radio_counter to 0.
I think NG is to set 0 again even though it is 0.

failsafe.radio_counter--;
if( failsafe.radio_counter <= 0 ) {
　failsafe.radio_counter = 0;

If changed, set 0 to failsafe.radio_counter only when the result of decrementing failsafe.radio_counter is -1.

[peterbarker]

No, @IamPete1 is correct. You are changing behaviour here, we will do things other than clamping the value of the counter one loop early.