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Fix for WP saving with CH7

This commit is contained in:
Jason Short 2011-11-12 21:40:58 -08:00
parent d6bfae598f
commit bcfb3a0ee3
1 changed files with 14 additions and 3 deletions
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17
ArduCopter/control_modes.pde
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@ -78,13 +78,13 @@ static void read_trim_switch()
}else{ // switch is disengaged
if(trim_flag){
trim_flag = false;
// set the throttle nominal
if(g.rc_3.control_in > 150){
g.throttle_cruise.set_and_save(g.rc_3.control_in);
//Serial.printf("tnom %d\n", g.throttle_cruise.get());
}
trim_flag = false;
}
}
@ -95,11 +95,22 @@ static void read_trim_switch()
}else{ // switch is disengaged
if(trim_flag){
// set the next_WP
trim_flag = false;
// increment index
CH7_wp_index++;
// set the next_WP, 0 is Home so we don't set that
// max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100);
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT
current_loc.id = MAV_CMD_NAV_WAYPOINT;
g.command_total.set_and_save(CH7_wp_index);
// save command
set_command_with_index(current_loc, CH7_wp_index);
// save the index
g.command_total.set_and_save(CH7_wp_index + 1);
}
}