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System.pde: Toy mode details for set_mode()

This commit is contained in:
Jason Short 2012-06-29 14:38:15 -07:00
parent c276fe8fa0
commit 031830b5fe
1 changed files with 6 additions and 1 deletions
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7
ArduCopter/system.pde
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@ -381,7 +381,8 @@ static void set_mode(byte mode)
{ {
// if we don't have GPS lock // if we don't have GPS lock
if(home_is_set == false){ if(home_is_set == false){
// our max mode should be // THOR
// We don't care about Home if we don't have lock yet in Toy mode
if(mode == TOY || mode == OF_LOITER){ if(mode == TOY || mode == OF_LOITER){
// nothing // nothing
}else if (mode > ALT_HOLD){ }else if (mode > ALT_HOLD){
@ -517,10 +518,14 @@ static void set_mode(byte mode)
set_next_WP(&current_loc); set_next_WP(&current_loc);
break; break;
// THOR
// These are the flight modes for Toy mode
// See the defines for the enumerated values
case TOY: case TOY:
yaw_mode = YAW_TOY; yaw_mode = YAW_TOY;
roll_pitch_mode = ROLL_PITCH_TOY; roll_pitch_mode = ROLL_PITCH_TOY;
throttle_mode = THROTTLE_MANUAL; throttle_mode = THROTTLE_MANUAL;
wp_control = NO_NAV_MODE;
break; break;
default: default: