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Copter: add initial mode parameter

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This commit is contained in:
Pierre Kancir 2020-11-02 18:46:01 +01:00 committed by Randy Mackay
parent a2cca60beb
commit be2e243916
2 changed files with 9 additions and 0 deletions
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7
ArduCopter/Parameters.cpp
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@ -308,6 +308,13 @@ const AP_Param::Info Copter::var_info[] = {
// @User: Advanced // @User: Advanced
GSCALAR(flight_mode_chan, "FLTMODE_CH", CH_MODE_DEFAULT), GSCALAR(flight_mode_chan, "FLTMODE_CH", CH_MODE_DEFAULT),
// @Param: INITIAL_MODE
// @DisplayName: Initial flight mode
// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver.
// @Values: 0:Stabilize,1:Acro,2:AltHold,3:Auto,4:Guided,5:Loiter,6:RTL,7:Circle,9:Land,11:Drift,13:Sport,14:Flip,15:AutoTune,16:PosHold,17:Brake,18:Throw,19:Avoid_ADSB,20:Guided_NoGPS,21:Smart_RTL,22:FlowHold,23:Follow,24:ZigZag,25:SystemID,26:Heli_Autorotate
// @User: Advanced
GSCALAR(initial_mode, "INITIAL_MODE", (uint8_t)Mode::Number::STABILIZE),
// @Param: SIMPLE // @Param: SIMPLE
// @DisplayName: Simple mode bitmask // @DisplayName: Simple mode bitmask
// @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode) // @Description: Bitmask which holds which flight modes use simple heading mode (eg bit 0 = 1 means Flight Mode 0 uses simple mode)

2
ArduCopter/Parameters.h
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@ -315,6 +315,7 @@ public:
k_param_flight_mode6, k_param_flight_mode6,
k_param_simple_modes, k_param_simple_modes,
k_param_flight_mode_chan, k_param_flight_mode_chan,
k_param_initial_mode,
// //
// 210: Waypoint data // 210: Waypoint data
@ -431,6 +432,7 @@ public:
AP_Int8 flight_mode6; AP_Int8 flight_mode6;
AP_Int8 simple_modes; AP_Int8 simple_modes;
AP_Int8 flight_mode_chan; AP_Int8 flight_mode_chan;
AP_Int8 initial_mode;
// Misc // Misc
// //