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Added Toy Mode control

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This commit is contained in:
Jason Short 2012-06-25 22:33:56 -07:00
parent 03879d9113
commit 4a85c40f03
1 changed files with 10 additions and 1 deletions
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11
ArduCopter/system.pde
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@ -382,8 +382,11 @@ static void set_mode(byte mode)
// if we don't have GPS lock
if(home_is_set == false){
// our max mode should be
if (mode > ALT_HOLD && mode != OF_LOITER)
if(mode == TOY || mode == OF_LOITER){
// nothing
}else if (mode > ALT_HOLD){
mode = STABILIZE;
}
}
// nothing but OF_LOITER for OptFlow only
@ -514,6 +517,12 @@ static void set_mode(byte mode)
set_next_WP(&current_loc);
break;
case TOY:
yaw_mode = YAW_TOY;
roll_pitch_mode = ROLL_PITCH_TOY;
throttle_mode = THROTTLE_MANUAL;
break;
default:
break;
}