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This commit is contained in:
Jason Short 2012-01-12 22:25:29 -08:00
parent f4490b62c7
commit 400d080d12
1 changed files with 3 additions and 13 deletions
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16
ArduCopter/system.pde
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@ -428,12 +428,6 @@ static void startup_ground(void)
static void set_mode(byte mode) static void set_mode(byte mode)
{ {
//if(control_mode == mode){
// don't switch modes if we are already in the correct mode.
// Serial.print("Double mode\n");
//return;
//}
// if we don't have GPS lock // if we don't have GPS lock
if(home_is_set == false){ if(home_is_set == false){
// our max mode should be // our max mode should be
@ -458,6 +452,9 @@ static void set_mode(byte mode)
// clearing value used in interactive alt hold // clearing value used in interactive alt hold
manual_boost = 0; manual_boost = 0;
// clearing value used to force the copter down in landing mode
landing_boost = 0;
// do not auto_land if we are leaving RTL // do not auto_land if we are leaving RTL
auto_land_timer = 0; auto_land_timer = 0;
@ -574,13 +571,6 @@ static void set_mode(byte mode)
// We are under manual attitude control // We are under manual attitude control
// removes the navigation from roll and pitch commands, but leaves the wind compensation // removes the navigation from roll and pitch commands, but leaves the wind compensation
reset_nav(); reset_nav();
#if WIND_COMP_STAB == 1
if(GPS_enabled){
wp_control = NO_NAV_MODE;
update_nav_wp();
}
#endif
} }
Log_Write_Mode(control_mode); Log_Write_Mode(control_mode);