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Copter: do not send mode_change event before init complete

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This avoids a beep as the flight mode is set during start-up
This commit is contained in:
Randy Mackay 2014-12-15 13:41:43 +09:00
parent e68a69e139
commit 79e40b4f6a
1 changed files with 4 additions and 1 deletions
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ArduCopter/switches.pde
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@ -30,7 +30,10 @@ static void read_control_switch()
if (set_mode(flight_modes[switch_position])) { if (set_mode(flight_modes[switch_position])) {
// play a tone // play a tone
if (control_switch_state.debounced_switch_position != -1) { if (control_switch_state.debounced_switch_position != -1) {
AP_Notify::events.user_mode_change = 1; // alert user to mode change failure (except if autopilot is just starting up)
if (ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
} }
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) { if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE && g.ch7_option != AUX_SWITCH_SUPERSIMPLE_MODE && g.ch8_option != AUX_SWITCH_SUPERSIMPLE_MODE) {