From 3f9ade2b1f448242d0045a86ebefa96eda951330 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Fri, 3 May 2013 07:59:15 +1000
Subject: [PATCH] Rover: added INITIAL_MODE option

this should be useful for sparkfun comp
---
 APMrover2/Parameters.h   | 2 ++
 APMrover2/Parameters.pde | 7 +++++++
 APMrover2/system.pde     | 2 +-
 3 files changed, 10 insertions(+), 1 deletion(-)

diff --git a/APMrover2/Parameters.h b/APMrover2/Parameters.h
index e9f86243ab..237ee29bc7 100644
--- a/APMrover2/Parameters.h
+++ b/APMrover2/Parameters.h
@@ -31,6 +31,7 @@ public:
         k_param_log_bitmask = 10,
         k_param_num_resets,
         k_param_reset_switch_chan,
+        k_param_initial_mode,
 
         // IO pins
         k_param_rssi_pin = 20,
@@ -150,6 +151,7 @@ public:
     AP_Int16    log_bitmask;
     AP_Int16    num_resets;
     AP_Int8	    reset_switch_chan;
+    AP_Int8     initial_mode;
 
     // IO pins
     AP_Int8     rssi_pin;
diff --git a/APMrover2/Parameters.pde b/APMrover2/Parameters.pde
index d7ea250e2e..192910b698 100644
--- a/APMrover2/Parameters.pde
+++ b/APMrover2/Parameters.pde
@@ -22,6 +22,13 @@ const AP_Param::Info var_info[] PROGMEM = {
 	GSCALAR(num_resets,             "SYS_NUM_RESETS",   0),
 	GSCALAR(reset_switch_chan,      "RST_SWITCH_CH",    0),
 
+    // @Param: INITIAL_MODE
+    // @DisplayName: Initial driving mode
+    // @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usuallly used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
+    // @Values: 0:MANUAL,2:LEARNING,3:STEERING,4:HOLD,10:AUTO,11:RTL,15:GUIDED
+    // @User: Advanced
+	GSCALAR(initial_mode,        "INITIAL_MODE",     MANUAL),
+
     // @Param: RSSI_PIN
     // @DisplayName: Receiver RSSI sensing pin
     // @Description: This selects an analog pin for the receiver RSSI voltage. It assumes the voltage is 5V for max rssi, 0V for minimum
diff --git a/APMrover2/system.pde b/APMrover2/system.pde
index 8a5280ab52..ecb52d6738 100644
--- a/APMrover2/system.pde
+++ b/APMrover2/system.pde
@@ -248,7 +248,7 @@ static void init_ardupilot()
 	if (g.log_bitmask & MASK_LOG_CMD)
 			Log_Write_Startup(TYPE_GROUNDSTART_MSG);
 
-    set_mode(MANUAL);
+    set_mode((enum mode)g.initial_mode.get());
 
 	// set the correct flight mode
 	// ---------------------------