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ACM: Safety patch for CH7 flip toggle. Prevents flipping while on the ground. ouch.

This commit is contained in:
Jason Short 2012-07-20 16:47:05 -07:00
parent 6177a1f5de
commit 3d32bbc476
1 changed files with 14 additions and 2 deletions
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16
ArduCopter/control_modes.pde
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@ -73,10 +73,22 @@ static void read_trim_switch()
do_simple = (g.rc_7.radio_in > CH_7_PWM_TRIGGER);
}else if (g.ch7_option == CH7_FLIP){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && takeoff_complete && g.rc_3.control_in != 0){
if(do_flip == false)
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){
trim_flag = true;
// don't flip if we accidentally engaged flip, but didn't notice and tried to takeoff
if(g.rc_3.control_in != 0 && takeoff_complete){
init_flip();
}
}
if (trim_flag == true && g.rc_7.control_in < 800){
trim_flag = false;
}
//if (g.rc_7.radio_in > CH_7_PWM_TRIGGER && takeoff_complete && g.rc_3.control_in != 0){
// if(do_flip == false)
// init_flip();
//}
}else if (g.ch7_option == CH7_RTL){
if (trim_flag == false && g.rc_7.radio_in > CH_7_PWM_TRIGGER){