From c86e53e922431ca4cf3a2dfe9bb2bc033551211a Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Mon, 5 Sep 2011 17:06:08 +0000
Subject: [PATCH] Fixed Log formatting Fixed Alt Hold setting error.

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3276 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/Log.pde      | 9 +++------
 ArduCopterMega/commands.pde | 3 ++-
 ArduCopterMega/config.h     | 2 +-
 ArduCopterMega/system.pde   | 2 ++
 4 files changed, 8 insertions(+), 8 deletions(-)

diff --git a/ArduCopterMega/Log.pde b/ArduCopterMega/Log.pde
index a029fb3c1f..9821f72c26 100644
--- a/ArduCopterMega/Log.pde
+++ b/ArduCopterMega/Log.pde
@@ -618,21 +618,18 @@ static void Log_Read_Control_Tuning()
 {
 	Serial.printf_P(PSTR(   "CTUN, "
 							"%d, %d, "
-							"%d, %d, %ld, "
-							"%d, %d, %ld, "
-							"%d, %d, %ld\n"),
+							"%d, %d, %d, "
+							"%d, %d, %d, "
+							"%d, %d, %d\n"),
 
 				// Control
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 
 				// yaw
-				(int)DataFlash.ReadByte(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
 				DataFlash.ReadInt(),
-				//(float)DataFlash.ReadInt(),// Gyro Rate
-				DataFlash.ReadLong(),
 
 				// Alt Hold
 				DataFlash.ReadInt(),
diff --git a/ArduCopterMega/commands.pde b/ArduCopterMega/commands.pde
index 2194ffd1c3..58964e0741 100644
--- a/ArduCopterMega/commands.pde
+++ b/ArduCopterMega/commands.pde
@@ -234,7 +234,8 @@ static void init_home()
 
 	// Save prev loc this makes the calcs look better before commands are loaded
 	prev_WP = home;
-	next_WP = home;
+	// this is dangerous since we can get GPS lock at any time.
+	//next_WP = home;
 }
 
 
diff --git a/ArduCopterMega/config.h b/ArduCopterMega/config.h
index c4ab920e2f..379d0211c9 100644
--- a/ArduCopterMega/config.h
+++ b/ArduCopterMega/config.h
@@ -522,7 +522,7 @@
 //# define THROTTLE_D		0.6			// upped with filter
 //#endif
 #ifndef THROTTLE_IMAX
-# define THROTTLE_IMAX		50
+# define THROTTLE_IMAX		150
 #endif
 
 
diff --git a/ArduCopterMega/system.pde b/ArduCopterMega/system.pde
index bac0fb6da8..44fde00483 100644
--- a/ArduCopterMega/system.pde
+++ b/ArduCopterMega/system.pde
@@ -394,6 +394,7 @@ static void set_mode(byte mode)
 			throttle_mode 	= ALT_HOLD_THR;
 
 			init_throttle_cruise();
+			next_WP.alt = current_loc.alt;
 			break;
 
 		case AUTO:
@@ -408,6 +409,7 @@ static void set_mode(byte mode)
 			init_auto();
 
 			// do crosstrack correction
+			// XXX move to flight commands
 			xtrack_enabled = true;
 			break;