prepared support for Mode 1 & Mode 2 radios

git-svn-id: https://arducopter.googlecode.com/svn/trunk@768 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArducopterNG/Arducopter.h

@@ -447,6 +447,11 @@ unsigned long elapsedTime			= 0;		// for doing custom events
 #define GPSDEV_IMU      4
 #define GPSDEV_NMEA     5
 
+// Radio Modes, mainly just Mode2 
+#define MODE1           1 
+#define MODE2           2
+#define MODE3           3
+#define MODE4           4
 
 // Following variables stored in EEPROM
 float KP_QUAD_ROLL;

ArducopterNG/ArducopterNG.pde

@@ -96,6 +96,14 @@
 //#define GpsBau  115200
 
 
+/* ************************************************* */
+// Radio modes
+#define RADIOMODE  MODE2    // Most users have this eg: left stick: Throttle/Rudder, right stick: Elevator/Aileron
+//#define RADIOMODE  MODE1  // Only if you are sure that you have Mode 1 radio. 
+
+// NOTE! MODE1 is not working yet, we need to have input from users to be sure of channel orders.  03-11-10, jp
+
+
 
 /* ************************************************* */
 // Flight & Electronics orientation
@@ -144,6 +152,8 @@
 
 
 
+
+
 /* ************************************************************ */
 /* **************** MAIN PROGRAM - INCLUDES ******************* */
 /* ************************************************************ */

ArducopterNG/Navigation.pde

@@ -42,7 +42,7 @@ void read_GPS_data()
   GPS.NewData=0;    // We Reset the flag...
 
   // Write GPS data to DataFlash log
-  Log_Write_GPS(GPS.Time, GPS.Lattitude,GPS.Longitude,GPS.Altitude,GPS.Altitude,GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
+  Log_Write_GPS(GPS.Time, GPS.Lattitude, GPS.Longitude, GPS.Altitude, GPS.Altitude, GPS.Ground_Speed, GPS.Ground_Course, GPS.Fix, GPS.NumSats);
 
   //if (GPS.Fix >= 2)
   if (GPS.Fix)