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Added Jose Julio's Flip code, edited to work with AC2. Never flown or tested!

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git-svn-id: https://arducopter.googlecode.com/svn/trunk@3020 f9c3cf11-9bcb-44bc-f272-b75c42450872
This commit is contained in:
jasonshort 2011-08-05 16:19:06 +00:00
parent a78b057cec
commit 10e2eb3571
1 changed files with 12 additions and 0 deletions
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12
ArduCopterMega/ArduCopterMega.pde
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@ -345,6 +345,11 @@ static float sin_pitch_y, sin_yaw_y, sin_roll_y;
static bool simple_bearing_is_set = false;
static long initial_simple_bearing; // used for Simple mode
// Acro
#if CH7_OPTION == DO_FLIP
static bool do_flip = false;
#endif
// Airspeed
// --------
static int airspeed; // m/s * 100
@ -1086,6 +1091,13 @@ void update_location(void)
void update_current_flight_mode(void)
{
#if CH7_OPTION == DO_FLIP
if (do_flip){
roll_flip();
return;
}
#endif
if(control_mode == AUTO){
// this is a hack to prevent run up of the throttle I term for alt hold