From b3d20bb8aa2d885ec0ee64c935ea3eb312cf3540 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 Jan 2014 11:06:06 +0900
Subject: [PATCH] TradHeli: Drift mode to use heli manual throttle

---
 ArduCopter/config.h   | 6 ++++++
 ArduCopter/system.pde | 2 +-
 2 files changed, 7 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index 7c92e8c9e8..35fc966f52 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -112,6 +112,7 @@
   # define HELI_ROLL_FF                         0
   # define HELI_YAW_FF                          0  
   # define STABILIZE_THR                        THROTTLE_MANUAL_HELI
+  # define DRIFT_THR                            THROTTLE_MANUAL_HELI
   # define MPU6K_FILTER                         10
   # define HELI_STAB_COLLECTIVE_MIN_DEFAULT     0
   # define HELI_STAB_COLLECTIVE_MAX_DEFAULT     1000
@@ -520,6 +521,11 @@
  # define ACRO_LEVEL_MAX_ANGLE      3000
 #endif
 
+// Drift Mode
+#ifndef DRIFT_THR
+ # define DRIFT_THR                 THROTTLE_MANUAL_TILT_COMPENSATED
+#endif
+
 // Sport Mode
 #ifndef SPORT_YAW
  # define SPORT_YAW           	    YAW_HOLD
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index d79d3a5916..f6022187d7 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -479,7 +479,7 @@ static bool set_mode(uint8_t mode)
             set_yaw_mode(YAW_DRIFT);
             set_roll_pitch_mode(ROLL_PITCH_DRIFT);
             set_nav_mode(NAV_NONE);
-            set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED);
+            set_throttle_mode(DRIFT_THR);
             break;
 
         case SPORT: