lots of minor changes, Logs should be working better now.

Pos hold is now called "Loiter" - I don't want to have a flight mode called HOLD POS...



git-svn-id: https://arducopter.googlecode.com/svn/trunk@1759 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/ArduCopterMega.pde

@@ -189,10 +189,8 @@ const char* flight_mode_strings[] = {
 	"FBW",
 	"AUTO",
 	"GCS_AUTO",
-	"POS_HOLD",
+	"LOITER",
-	"RTL",
+	"RTL"};
-	"TAKEOFF",
-	"LAND"};
 
 /* Radio values
 		Channel assignments
@@ -304,6 +302,9 @@ boolean	land_complete;
 int		landing_distance;					// meters;
 long 	old_alt;							// used for managing altitude rates
 int		velocity_land;
+bool 	nav_yaw_towards_wp;					// point at the next WP
+
+
 
 // Loiter management
 // -----------------
@@ -363,7 +364,7 @@ struct 	Location next_WP;					// next waypoint
 struct 	Location tell_command;				// command for telemetry
 struct 	Location next_command;				// command preloaded
 long 	target_altitude;					// used for
-long 	offset_altitude;					// used for
+//long 	offset_altitude;					// used for
 boolean	home_is_set; 						// Flag for if we have g_gps lock and have set the home location
 
 
@@ -415,6 +416,8 @@ float 			load;						// % MCU cycles used
 
 byte			counter_one_herz;
 
+byte			GPS_failure_counter = 255;
+
 ////////////////////////////////////////////////////////////////////////////////
 // Top-level logic
 ////////////////////////////////////////////////////////////////////////////////
@@ -506,7 +509,10 @@ void medium_loop()
 		//-------------------------------
 		case 0:
 			medium_loopCounter++;
+
+			if(GPS_failure_counter > 0){
 				update_GPS();
+			}
 			//readCommands();
 
 			if(g.compass_enabled){
@@ -678,11 +684,8 @@ void slow_loop()
 				// between 1 and 5 Hz
 			#else
 				gcs.send_message(MSG_LOCATION);
-				// XXX
-				// gcs.send_message(MSG_CPU_LOAD, load*100);
 			#endif
 
-            gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz instead of 1 Hz
 
 			break;
 
@@ -693,10 +696,15 @@ void slow_loop()
 	}
 }
 
+// 1Hz loop
 void super_slow_loop()
 {
 	if (g.log_bitmask & MASK_LOG_CUR)
 		Log_Write_Current();
+
+    gcs.send_message(MSG_HEARTBEAT); // XXX This is running at 3 1/3 Hz instead of 1 Hz
+	// gcs.send_message(MSG_CPU_LOAD, load*100);
+
 }
 
 void update_GPS(void)
@@ -705,6 +713,8 @@ void update_GPS(void)
 	update_GPS_light();
 
     if (g_gps->new_data && g_gps->fix) {
+    	GPS_failure_counter = 255;
+
 		// XXX We should be sending GPS data off one of the regular loops so that we send
 		// no-GPS-fix data too
 		#if GCS_PROTOCOL != GCS_PROTOCOL_MAVLINK
@@ -746,6 +756,9 @@ void update_GPS(void)
 		current_loc.lng = g_gps->longitude;	// Lon * 10 * *7
 		current_loc.lat = g_gps->latitude;		// Lat * 10 * *7
 
+	}else{
+		if(GPS_failure_counter > 0)
+			GPS_failure_counter--;
 	}
 }
 
@@ -928,7 +941,7 @@ void update_current_flight_mode(void)
 				output_stabilize_pitch();
 				break;
 
-			case POSITION_HOLD:
+			case LOITER:
 
 				// Yaw control
 				// -----------
@@ -1047,7 +1060,10 @@ void update_alt()
 
 	// altitude smoothing
 	// ------------------
-	calc_altitude_error();
+	calc_altitude_smoothing_error();
+
+
+	//calc_altitude_error();
 
 	// Amount of throttle to apply for hovering
 	// ----------------------------------------

ArduCopterMega/Attitude.pde

@@ -231,7 +231,7 @@ void calc_nav_throttle()
 	float scaler = 1.0;
 
 	if(error < 0){
-		scaler = (altitude_sensor == BARO) ? .5 : .9;
+		scaler = (altitude_sensor == BARO) ? .5 : .8;
 	}
 
 	if(altitude_sensor == BARO){
@@ -276,7 +276,7 @@ void output_manual_yaw()
 
 void auto_yaw()
 {
-	if(next_WP.options & WP_OPT_YAW){
+	if(nav_yaw_towards_wp){
 		nav_yaw = target_bearing;
 	}
 	output_yaw_with_hold(true); // hold yaw

ArduCopterMega/GCS_Mavlink.pde

@@ -201,7 +201,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             {
 
             case MAV_ACTION_LAUNCH:
-                set_mode(TAKEOFF);
+				//set_mode(TAKEOFF);
                 break;
 
             case MAV_ACTION_RETURN:
@@ -209,7 +209,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             case MAV_ACTION_EMCY_LAND:
-                set_mode(LAND);
+                //set_mode(LAND);
                 break;
 
             case MAV_ACTION_HALT:
@@ -263,7 +263,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
             case MAV_ACTION_REC_STOP: break;
 
             case MAV_ACTION_TAKEOFF:
-                set_mode(TAKEOFF);
+                //set_mode(TAKEOFF);
                 break;
 
             case MAV_ACTION_NAVIGATE:
@@ -271,7 +271,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
                 break;
 
             case MAV_ACTION_LAND:
-                set_mode(LAND);
+                //set_mode(LAND);
                 break;
 
             case MAV_ACTION_LOITER:

ArduCopterMega/Log.pde

@@ -59,7 +59,7 @@ print_log_menu(void)
 		// Pass it the capitalised name of the log option, as defined
 		// in defines.h but without the LOG_ prefix.  It will check for
 		// the bit being set and print the name of the log option to suit.
-#define PLOG(_s)	if (g.log_bitmask & LOGBIT_ ## _s) Serial.printf_P(PSTR(" %S"), PSTR(#_s))
+		#define PLOG(_s)	if (g.log_bitmask & MASK_LOG_ ## _s) Serial.printf_P(PSTR(" %S"), PSTR(#_s))
 		PLOG(ATTITUDE_FAST);
 		PLOG(ATTITUDE_MED);
 		PLOG(GPS);
@@ -69,7 +69,7 @@ print_log_menu(void)
 		PLOG(MODE);
 		PLOG(RAW);
 		PLOG(CMD);
-		PLOG(CURRENT);
+		PLOG(CUR);
 		#undef PLOG
 	}
 	Serial.println();
@@ -107,7 +107,10 @@ dump_log(uint8_t argc, const Menu::arg *argv)
 
 	get_log_boundaries(last_log_num, dump_log, dump_log_start, dump_log_end);
 	Serial.printf_P(PSTR("Dumping Log number %d,    start page %d,   end page %d\n"),
-				  dump_log, dump_log_start, dump_log_end);
+				  dump_log,
+				  dump_log_start,
+				  dump_log_end);
+
 	Log_Read(dump_log_start, dump_log_end);
 	Serial.printf_P(PSTR("Log read complete\n"));
 }
@@ -128,6 +131,7 @@ erase_logs(uint8_t argc, const Menu::arg *argv)
 	DataFlash.WriteByte(LOG_INDEX_MSG);
 	DataFlash.WriteByte(0);
 	DataFlash.WriteByte(END_BYTE);
+	DataFlash.FinishWrite();
 	Serial.printf_P(PSTR("\nLog erased.\n"));
 }
 
@@ -152,7 +156,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
 	if (!strcasecmp_P(argv[1].str, PSTR("all"))) {
 		bits = ~(bits = 0);
 	} else {
-#define TARG(_s)	if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= LOGBIT_ ## _s
+		#define TARG(_s)	if (!strcasecmp_P(argv[1].str, PSTR(#_s))) bits |= MASK_LOG_ ## _s
 		TARG(ATTITUDE_FAST);
 		TARG(ATTITUDE_MED);
 		TARG(GPS);
@@ -162,7 +166,7 @@ select_logs(uint8_t argc, const Menu::arg *argv)
 		TARG(MODE);
 		TARG(RAW);
 		TARG(CMD);
-		TARG(CURRENT);
+		TARG(CUR);
 		#undef TARG
 	}
 
@@ -373,7 +377,7 @@ void Log_Write_Startup(byte type)
 	struct Location cmd = get_wp_with_index(0);
 		Log_Write_Cmd(0, &cmd);
 
-	for (int i=1; i<g.waypoint_total; i++){
+	for (int i = 1; i <= g.waypoint_total; i++){
 		cmd = get_wp_with_index(i);
 		Log_Write_Cmd(i, &cmd);
 	}
@@ -486,7 +490,7 @@ void Log_Write_Current()
 // Read a Current packet
 void Log_Read_Current()
 {
-	Serial.printf("CURR: %d, %4.4f, %4.4f, %d\n",
+	Serial.printf_P(PSTR("CURR: %d, %4.4f, %4.4f, %d\n"),
 			DataFlash.ReadInt(),
 			((float)DataFlash.ReadInt() / 100.f),
 			((float)DataFlash.ReadInt() / 100.f),
@@ -498,7 +502,7 @@ void Log_Read_Control_Tuning()
 {
 	float logvar;
 
-	Serial.print("CTUN:");
+	Serial.printf_P(PSTR("CTUN:"));
 	for (int y = 1; y < 10; y++) {
 		logvar = DataFlash.ReadInt();
 		if(y < 8) logvar 	= logvar/100.f;
@@ -512,21 +516,14 @@ void Log_Read_Control_Tuning()
 // Read a nav tuning packet
 void Log_Read_Nav_Tuning()
 {
-	Serial.print("NTUN:");
+	Serial.printf_P(PSTR("NTUN: %4.4f, %d, %4.4f, %4.4f, %4.4f, %4.4f, %4.4f,\n"),
-	Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0);			// Yaw from IMU
+				(float)((uint16_t)DataFlash.ReadInt())/100.0,
-	Serial.print(comma);
+				DataFlash.ReadInt(),
-	Serial.print(DataFlash.ReadInt());									// wp_distance
+				(float)((uint16_t)DataFlash.ReadInt())/100.0,
-	Serial.print(comma);
+				(float)((uint16_t)DataFlash.ReadInt())/100.0,
-	Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0);			// target_bearing - Bearing to Target
+				(float)DataFlash.ReadInt()/100.0,
-	Serial.print(comma);
+				(float)DataFlash.ReadInt()/100.0,
-	Serial.print((float)((uint16_t)DataFlash.ReadInt())/100.0);			// nav_bearing - Bearing to steer
+				(float)DataFlash.ReadInt()/1000.0);
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadInt()/100.0);						// Altitude error
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadInt()/100.0);						// Airspeed
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadInt()/1000.0);					// nav_gain_scaler
-	Serial.println(comma);
 }
 
 // Read a performance packet
@@ -540,9 +537,11 @@ void Log_Read_Performance()
 	Serial.print(pm_time);
 	Serial.print(comma);
 	for (int y = 1; y < 9; y++) {
-		if(y<3 || y>7) logvar = DataFlash.ReadInt();
+		if(y < 3 || y > 7){
-		else logvar = DataFlash.ReadByte();
+			logvar = DataFlash.ReadInt();
-		//if(y > 7) logvar = logvar/1000.f;
+		}else{
+			logvar = DataFlash.ReadByte();
+		}
 		Serial.print(logvar);
 		Serial.print(comma);
 	}
@@ -572,34 +571,24 @@ void Log_Read_Cmd()
 void Log_Read_Startup()
 {
 	byte logbyte = DataFlash.ReadByte();
+
 	if (logbyte == TYPE_AIRSTART_MSG)
-		Serial.print("AIR START - ");
+		Serial.printf_P(PSTR("AIR START - "));
 	else if (logbyte == TYPE_GROUNDSTART_MSG)
-		Serial.print("GROUND START - ");
+		Serial.printf_P(PSTR("GROUND START - "));
 	else
-		Serial.print("UNKNOWN STARTUP TYPE -");
+		Serial.printf_P(PSTR("UNKNOWN STARTUP - "));
-	Serial.print(DataFlash.ReadByte(), DEC);
+
-	Serial.println(" commands in memory");
+	Serial.printf_P(PSTR(" %d commands in memory\n"),(int)DataFlash.ReadByte());
 }
 
 // Read an attitude packet
 void Log_Read_Attitude()
 {
-	int log_roll;
+	Serial.printf_P(PSTR("ATT: %d, %d, %d\n"),
-	int log_pitch;
+			DataFlash.ReadInt(),
-	uint16_t log_yaw;
+			DataFlash.ReadInt(),
-
+			(uint16_t)DataFlash.ReadInt());
-	log_roll 	= DataFlash.ReadInt();
-	log_pitch 	= DataFlash.ReadInt();
-	log_yaw 	= (uint16_t)DataFlash.ReadInt();
-
-	Serial.print("ATT:");
-	Serial.print(log_roll);
-	Serial.print(comma);
-	Serial.print(log_pitch);
-	Serial.print(comma);
-	Serial.print(log_yaw);
-	Serial.println();
 }
 
 // Read a mode packet
@@ -612,25 +601,16 @@ void Log_Read_Mode()
 // Read a GPS packet
 void Log_Read_GPS()
 {
-
+	Serial.printf_P(PSTR("GPS: %ld, %d, %d, %4.7f, %4.7f, %4.4f, %4.4f, %4.4f, %4.4f\n"),
-	Serial.print("GPS:");
+			DataFlash.ReadLong(),
-	Serial.print(DataFlash.ReadLong());						// Time
+			(int)DataFlash.ReadByte(),
-	Serial.print(comma);
+			(int)DataFlash.ReadByte(),
-	Serial.print((int)DataFlash.ReadByte());				// Fix
+			(float)DataFlash.ReadLong() / t7,
-	Serial.print(comma);
+			(float)DataFlash.ReadLong() / t7,
-	Serial.print((int)DataFlash.ReadByte());				// Num of Sats
+			(float)DataFlash.ReadLong() / 100.0,
-	Serial.print(comma);
+			(float)DataFlash.ReadLong() / 100.0,
-	Serial.print((float)DataFlash.ReadLong()/t7, 7);			// Lattitude
+			(float)DataFlash.ReadLong() / 100.0,
-	Serial.print(comma);
+			(float)DataFlash.ReadLong() / 100.0);
-	Serial.print((float)DataFlash.ReadLong()/t7, 7);			// Longitude
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadLong()/100.0);		// Baro/gps altitude mix
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadLong()/100.0);		// GPS altitude
-	Serial.print(comma);
-	Serial.print((float)DataFlash.ReadLong()/100.0);		// Ground Speed
-	Serial.print(comma);
-	Serial.println((float)DataFlash.ReadLong()/100.0);		// Ground Course
 
 }
 
@@ -651,14 +631,13 @@ void Log_Read_Raw()
 void Log_Read(int start_page, int end_page)
 {
 	byte data;
-	byte log_step=0;
+	byte log_step;
-	int packet_count=0;
+	int packet_count;
 	int page = start_page;
 
 
 	DataFlash.StartRead(start_page);
-	while (page < end_page && page != -1)
+	while (page < end_page && page != -1){
-		{
 		data = DataFlash.ReadByte();
 		switch(log_step)		 // This is a state machine to read the packets
 			{
@@ -713,8 +692,7 @@ void Log_Read(int start_page, int end_page)
 						Log_Read_GPS();
 						log_step++;
 					}else{
-						Serial.print("Error Reading Packet: ");
+						Serial.printf_P(PSTR("Error Reading Packet: %d\n"),packet_count);
-						Serial.print(packet_count);
 						log_step = 0;	 // Restart, we have a problem...
 					}
 				}
@@ -723,16 +701,14 @@ void Log_Read(int start_page, int end_page)
 				if(data == END_BYTE){
 					 packet_count++;
 				}else{
-					Serial.print("Error Reading END_BYTE  ");
+					Serial.printf_P(PSTR("Error Reading END_BYTE: %d\n"),data);
-					Serial.println(data,DEC);
 				}
 				log_step = 0;			// Restart sequence: new packet...
 				break;
 			}
 		page = DataFlash.GetPage();
 		}
-	Serial.print("Number of packets read: ");
+	Serial.printf_P(PSTR("Number of packets read: %d\n"), packet_count);
-	Serial.println(packet_count);
 }
 
 

ArduCopterMega/Mavlink_Common.h

@@ -10,16 +10,16 @@ byte mavdelay = 0;
 
 static uint8_t mavlink_check_target(uint8_t sysid, uint8_t compid)
 {
-    if (sysid != mavlink_system.sysid)
+    if (sysid != mavlink_system.sysid){
-    {
         return 1;
-    }
+
-    else if (compid != mavlink_system.compid)
+    }else if(compid != mavlink_system.compid){
-    {
 		gcs.send_text(SEVERITY_LOW,"component id mismatch");
         return 0; // XXX currently not receiving correct compid from gcs
+
+    } else {
+    	return 0; // no error
     }
-    else return 0; // no error
 }
 
 
@@ -53,7 +53,7 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 				case ALT_HOLD:
 					mode = MAV_MODE_TEST2;
 					break;
-		case POSITION_HOLD:
+				case LOITER:
 					mode = MAV_MODE_AUTO;
 					nav_mode = MAV_NAV_HOLD;
 					break;
@@ -65,14 +65,14 @@ void mavlink_send_message(mavlink_channel_t chan, uint8_t id, uint32_t param, ui
 					mode = MAV_MODE_AUTO;
 					nav_mode = MAV_NAV_RETURNING;
 					break;
-		case TAKEOFF:
+				//case TAKEOFF:
-			mode = MAV_MODE_AUTO;
+				//	mode = MAV_MODE_AUTO;
-			nav_mode = MAV_NAV_LIFTOFF;
+				//	nav_mode = MAV_NAV_LIFTOFF;
-			break;
+				//	break;
-		case LAND:
+				//case LAND:
-			mode = MAV_MODE_AUTO;
+				//	mode = MAV_MODE_AUTO;
-			nav_mode = MAV_NAV_LANDING;
+				//	nav_mode = MAV_NAV_LANDING;
-			break;
+				//	break;
 			}
 			uint8_t status 		= MAV_STATE_ACTIVE;
 			uint8_t motor_block = false;

ArduCopterMega/commands.pde

@@ -40,9 +40,6 @@ struct Location get_wp_with_index(int i)
 		mem = (WP_START_BYTE) + (i * WP_SIZE);
 		temp.id = eeprom_read_byte((uint8_t*)mem);
 
-		mem++;
-		temp.options = eeprom_read_byte((uint8_t*)mem);
-
 		mem++;
 		temp.p1 = eeprom_read_byte((uint8_t*)mem);
 
@@ -57,8 +54,10 @@ struct Location get_wp_with_index(int i)
 	}
 
 	// Add on home altitude if we are a nav command
-	if(temp.options & WP_OPT_ALT_RELATIVE){
+	if(temp.id < 0x70){
+		//if((flight_options_mask & WP_OPT_ALT_RELATIVE) == 0){
 			temp.alt += home.alt;
+		//}
 	}
 
 	return temp;
@@ -77,7 +76,7 @@ void set_wp_with_index(struct Location temp, int i)
 	//}
 
 	// Store the location relatove to home
-	if(temp.options & WP_OPT_ALT_RELATIVE){
+	if((flight_options_mask & WP_OPT_ALT_RELATIVE) == 0){
 		temp.alt -= home.alt;
 	}
 
@@ -86,9 +85,6 @@ void set_wp_with_index(struct Location temp, int i)
 
 	eeprom_write_byte((uint8_t *)	mem, temp.id);
 
-	mem++;
-	eeprom_write_byte((uint8_t *)	mem, temp.options);
-
 	mem++;
 	eeprom_write_byte((uint8_t *)	mem, temp.p1);
 
@@ -167,12 +163,6 @@ void set_next_WP(struct Location *wp)
 	// -----------------------------------------------
 	target_altitude = current_loc.alt;
 
-	// XXX YUCK!
-	if(prev_WP.id != MAV_CMD_NAV_TAKEOFF && prev_WP.alt != home.alt && (next_WP.id == MAV_CMD_NAV_WAYPOINT || next_WP.id == MAV_CMD_NAV_LAND))
-		offset_altitude = next_WP.alt - prev_WP.alt;
-	else
-		offset_altitude = 0;
-
 	// zero out our loiter vals to watch for missed waypoints
 	loiter_delta 		= 0;
 	loiter_sum 			= 0;

ArduCopterMega/commands_logic.pde

@@ -81,9 +81,6 @@ handle_no_commands()
 		return;
 
 	switch (control_mode){
-		case LAND:
-			// don't get a new command
-			break;
 
 		//case GCS_AUTO:
 		//	set_mode(LOITER);

ArduCopterMega/defines.h

@@ -88,11 +88,9 @@
 #define FBW 3				// AUTO control
 #define AUTO 4				// AUTO control
 #define GCS_AUTO 5				// AUTO control
-#define POSITION_HOLD 6		// Hold a single location
+#define LOITER 6		// Hold a single location
 #define RTL 7				// AUTO control
-#define TAKEOFF 8			// controlled decent rate
+#define NUM_MODES 8
-#define LAND 9				// controlled decent rate
-#define NUM_MODES 10
 
 
 #define WP_OPT_ALT_RELATIVE 	(1<<0)
@@ -207,18 +205,6 @@
 #define MASK_LOG_CMD			(1<<8)
 #define MASK_LOG_CUR			(1<<9)
 
-// bits in log_bitmask
-#define LOGBIT_ATTITUDE_FAST	(1<<0)
-#define LOGBIT_ATTITUDE_MED		(1<<1)
-#define LOGBIT_GPS				(1<<2)
-#define LOGBIT_PM				(1<<3)
-#define LOGBIT_CTUN				(1<<4)
-#define LOGBIT_NTUN				(1<<5)
-#define LOGBIT_MODE				(1<<6)
-#define LOGBIT_RAW				(1<<7)
-#define LOGBIT_CMD				(1<<8)
-#define LOGBIT_CURRENT			(1<<9)
-
 // Waypoint Modes
 // ----------------
 #define ABS_WP 0

ArduCopterMega/navigation.pde

@@ -100,13 +100,13 @@ void calc_bearing_error()
 
 void calc_altitude_error()
 {
-	//if(control_mode == AUTO && offset_altitude != 0) {
+	altitude_error 	= next_WP.alt - current_loc.alt;
-	if(next_WP.options & WP_OPT_ALT_CHANGE || offset_altitude == 0) {
+}
-		target_altitude = next_WP.alt;
 
-	}else{
+void calc_altitude_smoothing_error()
+{
 	// limit climb rates - we draw a straight line between first location and edge of waypoint_radius
-		target_altitude = next_WP.alt - ((wp_distance * offset_altitude) / (wp_totalDistance - g.waypoint_radius));
+	target_altitude = next_WP.alt - ((wp_distance * (next_WP.alt - prev_WP.alt)) / (wp_totalDistance - g.waypoint_radius));
 
 	// stay within a certain range
 	if(prev_WP.alt > next_WP.alt){
@@ -114,7 +114,6 @@ void calc_altitude_error()
 	}else{
 		target_altitude = constrain(target_altitude, prev_WP.alt, next_WP.alt);
 	}
-	}
 
 	altitude_error 	= target_altitude - current_loc.alt;
 }

ArduCopterMega/setup.pde

@@ -647,7 +647,8 @@ void default_logs()
 {
 
 	// convenience macro for testing LOG_* and setting LOGBIT_*
-	#define LOGBIT(_s)	(LOG_ ## _s ? LOGBIT_ ## _s : 0)
+	#define LOGBIT(_s)	(MASK_LOG_##_s ? MASK_LOG_##_s : 0)
+
 	g.log_bitmask =
 		LOGBIT(ATTITUDE_FAST)	|
 		LOGBIT(ATTITUDE_MED)	|
@@ -658,7 +659,7 @@ void default_logs()
 		LOGBIT(MODE)			|
 		LOGBIT(RAW)				|
 		LOGBIT(CMD)				|
-		LOGBIT(CURRENT);
+		LOGBIT(CUR);
 	#undef LOGBIT
 
 	g.log_bitmask.save();

ArduCopterMega/system.pde

@@ -287,7 +287,7 @@ void set_mode(byte mode)
 			update_auto();
 			break;
 
-		case POSITION_HOLD:
+		case LOITER:
 			do_hold_position();
 			break;
 
@@ -295,12 +295,6 @@ void set_mode(byte mode)
 			do_RTL();
 			break;
 
-		case TAKEOFF:
-			break;
-
-		case LAND:
-			break;
-
 		default:
 			break;
 	}