Edited CH7 options to include Do Nothing and RTL.

ArduCopter/APM_Config.h

@@ -48,11 +48,13 @@
     CH6_TRAVERSE_SPEED
 	*/
 
-# define CH7_OPTION		DO_SET_HOVER
+# define CH7_OPTION		CH7_DO_NOTHING
 	/*
-	DO_SET_HOVER
-	DO_FLIP
-	SIMPLE_MODE_CONTROL
+	CH7_DO_NOTHING
+	CH7_SET_HOVER
+	CH7_FLIP
+	CH7_SIMPLE_MODE
+	CH7_RTL
 	*/
 
 // See the config.h and defines.h files for how to set this up!

ArduCopter/ArduCopter.pde

@@ -525,7 +525,6 @@ void loop()
 		//PORTK |= B00010000;
 		G_Dt 				= (float)(timer - fast_loopTimer) / 1000000.f;		// used by PI Loops
 		fast_loopTimer 		= timer;
-		//Serial.printf("%1.5f\n", G_Dt);
 
 		// Execute the fast loop
 		// ---------------------

ArduCopter/control_modes.pde

@@ -51,17 +51,22 @@ static boolean trim_flag;
 // set this to your trainer switch
 static void read_trim_switch()
 {
-#if CH7_OPTION == DO_FLIP
+#if CH7_OPTION == CH7_FLIP
 	if (g.rc_7.control_in > 800 && g.rc_3.control_in != 0){
 		do_flip = true;
 	}
 
-#elif CH7_OPTION == SIMPLE_MODE_CONTROL
+#elif CH7_OPTION == CH7_SIMPLE_MODE
 
 	do_simple = (g.rc_7.control_in > 800);
 	//Serial.println(g.rc_7.control_in, DEC);
 
-#elif CH7_OPTION == DO_SET_HOVER
+#elif CH7_OPTION == CH7_RTL
+	set_mode(RTL);
+	//do_simple = (g.rc_7.control_in > 800);
+	//Serial.println(g.rc_7.control_in, DEC);
+
+#elif CH7_OPTION == CH7_SET_HOVER
 	// switch is engaged
 	if (g.rc_7.control_in > 800){
 		trim_flag = true;
@@ -76,7 +81,6 @@ static void read_trim_switch()
 					//Serial.printf("tnom %d\n", g.throttle_cruise.get());
 			}
 			trim_flag = false;
-
 		}
 	}
 #endif

ArduCopter/defines.h

@@ -27,9 +27,11 @@
 #define BARO 1
 
 // CH 7 control
-#define DO_SET_HOVER 0
-#define DO_FLIP 1
-#define SIMPLE_MODE_CONTROL 2
+#define CH7_DO_NOTHING 0
+#define CH7_SET_HOVER 1
+#define CH7_FLIP 2
+#define CH7_SIMPLE_MODE 3
+#define CH7_RTL 4
 
 // Frame types
 #define QUAD_FRAME 0