From 123ce533bbacbd4bcbb0301f98933bc6655e6e16 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Tue, 3 Jan 2012 22:50:33 -0800
Subject: [PATCH] Added precalc for wind compensation when entering Stabilze
 mode

---
 ArduCopter/system.pde | 8 ++++++--
 1 file changed, 6 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 4e6874ec98..3d1cb57cad 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -525,8 +525,9 @@ static void set_mode(byte mode)
 		// reset all of the throttle iterms
 		g.pi_alt_hold.reset_I();
 		g.pi_throttle.reset_I();
-	}else { // an automatic throttle
 
+	}else {
+		// an automatic throttle
 		// todo: replace with a throttle cruise estimator
 		init_throttle_cruise();
 	}
@@ -537,7 +538,10 @@ static void set_mode(byte mode)
 		reset_nav();
 
 		// removes the navigation from roll and pitch commands, but leaves the wind compensation
-		calc_wind_compensation();
+		if(GPS_enabled)
+			wp_control = NO_NAV_MODE;
+			update_nav_wp();
+
 	}
 
 	Log_Write_Mode(control_mode);