From 258442770d411389ca4e8d1d64ec797f37238937 Mon Sep 17 00:00:00 2001
From: rmackay9 <rmackay9@yahoo.com>
Date: Tue, 13 Nov 2012 12:50:51 +0900
Subject: [PATCH] ArduCopter: flight mode changes ignored while in throttle
 failsafe

reaction time to flight mode changes (when not in failsafe) reduced from 0.6 seconds to 0.1 seconds
---
 ArduCopter/AP_State.pde      |  1 -
 ArduCopter/ArduCopter.pde    | 13 +++++--------
 ArduCopter/control_modes.pde | 32 +++++++++++++++++++-------------
 3 files changed, 24 insertions(+), 22 deletions(-)

diff --git a/ArduCopter/AP_State.pde b/ArduCopter/AP_State.pde
index 9088b4c811..7ca585df4c 100644
--- a/ArduCopter/AP_State.pde
+++ b/ArduCopter/AP_State.pde
@@ -51,7 +51,6 @@ static void set_failsafe(bool mode)
 
         // store the value so we don't trip the gate twice
         // -----------------------------------------------
-        //failsafe = mode;
         ap.failsafe = mode;
 
         if (ap.failsafe == false) {
diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 3f0c8ab409..b312619cb4 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -1037,10 +1037,6 @@ static void fast_loop()
     // ------------------------------
     set_servos_4();
 
-    // Read radio
-    // ----------
-    read_radio();
-
     // IMU DCM Algorithm
     // --------------------
     read_AHRS();
@@ -1061,6 +1057,11 @@ static void fast_loop()
     }
 #endif
 
+    // Read radio and 3-position switch on radio
+    // -----------------------------------------
+    read_radio();
+    read_control_switch();
+
     // custom code/exceptions for flight modes
     // ---------------------------------------
     update_yaw_mode();
@@ -1299,10 +1300,6 @@ static void slow_loop()
     case 1:
         slow_loopCounter++;
 
-        // Read 3-position switch on radio
-        // -------------------------------
-        read_control_switch();
-
 #if MOUNT == ENABLED
         update_aux_servo_function(&g.rc_5, &g.rc_6, &g.rc_7, &g.rc_8, &g.rc_10, &g.rc_11);
 #endif
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 05cfc602ed..41102d759e 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -1,27 +1,33 @@
 /// -*- tab-width: 4; Mode: C++; c-basic-offset: 4; indent-tabs-mode: nil -*-
 
+#define CONTROL_SWITCH_COUNTER  5      // 5 iterations (1/10th of a second) at a new switch position will cause flight mode change
 static void read_control_switch()
 {
-    static bool switch_debouncer = false;
+    static uint8_t switch_counter = 0;
 
     byte switchPosition = readSwitch();
 
     if (oldSwitchPosition != switchPosition) {
-        if(switch_debouncer) {
+        switch_counter++;
+        if(switch_counter >= CONTROL_SWITCH_COUNTER) {
             oldSwitchPosition       = switchPosition;
-            switch_debouncer        = false;
+            switch_counter          = 0;
 
-            set_mode(flight_modes[switchPosition]);
+            // ignore flight mode changes if in failsafe
+            if( !ap.failsafe ) {
+                set_mode(flight_modes[switchPosition]);
 
-            if(g.ch7_option != CH7_SIMPLE_MODE) {
-                // set Simple mode using stored paramters from Mission planner
-                // rather than by the control switch
-                //ap.simple_mode = (g.simple_modes & (1 << switchPosition));
-                set_simple_mode(g.simple_modes & (1 << switchPosition));
+                if(g.ch7_option != CH7_SIMPLE_MODE) {
+                    // set Simple mode using stored paramters from Mission planner
+                    // rather than by the control switch
+                    set_simple_mode(g.simple_modes & (1 << switchPosition));
+                }
             }
-        }else{
-            switch_debouncer        = true;
         }
+    }else{
+        // reset switch_counter if there's been no change
+        // we don't want 10 intermittant blips causing a flight mode change
+        switch_counter = 0;
     }
 }
 
@@ -31,8 +37,8 @@ static byte readSwitch(void){
     if (pulsewidth > 1230 && pulsewidth <= 1360) return 1;
     if (pulsewidth > 1360 && pulsewidth <= 1490) return 2;
     if (pulsewidth > 1490 && pulsewidth <= 1620) return 3;
-    if (pulsewidth > 1620 && pulsewidth <= 1749) return 4;              // Software Manual
-    if (pulsewidth >= 1750) return 5;                                                           // Hardware Manual
+    if (pulsewidth > 1620 && pulsewidth <= 1749) return 4;
+    if (pulsewidth >= 1750) return 5;
     return 0;
 }