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Fix Auto_Trim to allow it to actually be called when setup on Ch7 pulldown menu in MP.

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This commit is contained in:
Robert Lefebvre 2012-03-23 09:17:58 -04:00
parent ee4803c12d
commit 84d8414a2e
1 changed files with 5 additions and 6 deletions
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11
ArduCopter/control_modes.pde
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@ -72,11 +72,6 @@ static void read_trim_switch()
} }
} }
#elif CH7_OPTION == CH7_AUTO_TRIM
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
auto_level_counter = 10;
}
#else #else
// this is the normal operation set by the mission planner // this is the normal operation set by the mission planner
@ -152,6 +147,10 @@ static void read_trim_switch()
// 3 = command total // 3 = command total
} }
} }
}else if (g.ch7_option == CH7_AUTO_TRIM){
if (g.rc_7.radio_in > CH_7_PWM_TRIGGER){
auto_level_counter = 10;
}
} }
#endif #endif
@ -212,7 +211,7 @@ static void trim_accel()
trim_roll = constrain(trim_roll, -1.5, 1.5); trim_roll = constrain(trim_roll, -1.5, 1.5);
trim_pitch = constrain(trim_pitch, -1.5, 1.5); trim_pitch = constrain(trim_pitch, -1.5, 1.5);
if(g.rc_1.control_in > 200){ // Roll RIght if(g.rc_1.control_in > 200){ // Roll Right
imu.ay(imu.ay() - trim_roll); imu.ay(imu.ay() - trim_roll);
}else if (g.rc_1.control_in < -200){ }else if (g.rc_1.control_in < -200){
imu.ay(imu.ay() - trim_roll); imu.ay(imu.ay() - trim_roll);