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ACM: Toy mode updates - added second toy mode

This commit is contained in:
Jason Short 2012-08-11 22:31:30 -07:00
parent 8160aa6103
commit b01a71c4b9
1 changed files with 6 additions and 7 deletions
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13
ArduCopter/ArduCopter.pde
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@ -359,7 +359,8 @@ static const char* flight_mode_strings[] = {
"POSITION", // 8 "POSITION", // 8
"LAND", // 9 "LAND", // 9
"OF_LOITER", // 10 "OF_LOITER", // 10
"TOY"}; // 11 THOR Added for additional Fligt mode "TOY_M", // 11
"TOY_A"}; // 12 THOR Added for additional Fligt mode
/* Radio values /* Radio values
Channel assignments Channel assignments
@ -676,6 +677,7 @@ static int16_t baro_rate;
static int8_t reset_throttle_counter; static int8_t reset_throttle_counter;
// used to track when to read sensors vs estimate alt // used to track when to read sensors vs estimate alt
static boolean alt_sensor_flag; static boolean alt_sensor_flag;
static int16_t saved_toy_throttle;
//////////////////////////////////////////////////////////////////////////////// ////////////////////////////////////////////////////////////////////////////////
@ -1142,7 +1144,7 @@ static void medium_loop()
case 2: case 2:
medium_loopCounter++; medium_loopCounter++;
if(control_mode == TOY){ if(control_mode == TOY_A){
update_toy_throttle(); update_toy_throttle();
if(throttle_mode == THROTTLE_AUTO){ if(throttle_mode == THROTTLE_AUTO){
@ -1987,14 +1989,11 @@ static void update_navigation()
break; break;
case STABILIZE: case STABILIZE:
case TOY_A:
case TOY_M:
wp_control = NO_NAV_MODE; wp_control = NO_NAV_MODE;
update_nav_wp(); update_nav_wp();
break; break;
// THOR added to enable Virtual WP nav
case TOY:
update_nav_wp();
break;
} }
// are we in SIMPLE mode? // are we in SIMPLE mode?