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ACM: Toy mode updates

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This commit is contained in:
Jason Short 2012-08-11 22:30:02 -07:00
parent b27c1ce396
commit 1e0ab8768e
1 changed files with 12 additions and 4 deletions
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16
ArduCopter/system.pde
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@ -420,7 +420,7 @@ static void set_mode(byte mode)
if(home_is_set == false){ if(home_is_set == false){
// THOR // THOR
// We don't care about Home if we don't have lock yet in Toy mode // 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_A || mode == TOY_M || mode == OF_LOITER){
// nothing // nothing
}else if (mode > ALT_HOLD){ }else if (mode > ALT_HOLD){
mode = STABILIZE; mode = STABILIZE;
@ -551,18 +551,26 @@ static void set_mode(byte mode)
// THOR // THOR
// These are the flight modes for Toy mode // These are the flight modes for Toy mode
// See the defines for the enumerated values // See the defines for the enumerated values
case TOY: case TOY_A:
yaw_mode = YAW_TOY; yaw_mode = YAW_TOY;
roll_pitch_mode = ROLL_PITCH_TOY; roll_pitch_mode = ROLL_PITCH_TOY;
throttle_mode = THROTTLE_AUTO;
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
// init throttle // save throttle for fast exit of Alt hold
update_toy_throttle(); saved_toy_throttle = g.rc_3.control_in;
// hold the current altitude // hold the current altitude
set_new_altitude(current_loc.alt); set_new_altitude(current_loc.alt);
break; break;
case TOY_M:
yaw_mode = YAW_TOY;
roll_pitch_mode = ROLL_PITCH_TOY;
wp_control = NO_NAV_MODE;
throttle_mode = THROTTLE_MANUAL;
break;
default: default:
break; break;
} }