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added notes, removed redundant save wp_total

This commit is contained in:
Jason Short 2012-01-14 10:17:39 -08:00
parent 897d9a1c0b
commit f97d58c753
1 changed files with 8 additions and 4 deletions
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12
ArduCopter/control_modes.pde
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@ -111,6 +111,7 @@ static void read_trim_switch()
trim_flag = false; trim_flag = false;
if(control_mode == AUTO){ if(control_mode == AUTO){
// reset the mission
CH7_wp_index = 0; CH7_wp_index = 0;
g.command_total.set_and_save(1); g.command_total.set_and_save(1);
return; return;
@ -118,7 +119,7 @@ static void read_trim_switch()
if(CH7_wp_index == 0){ if(CH7_wp_index == 0){
// this is our first WP, let's save WP 1 as a takeoff // this is our first WP, let's save WP 1 as a takeoff
// increment index // increment index to WP index of 1 (home is stored at 0)
CH7_wp_index = 1; CH7_wp_index = 1;
// set our location ID to 16, MAV_CMD_NAV_WAYPOINT // set our location ID to 16, MAV_CMD_NAV_WAYPOINT
@ -134,7 +135,7 @@ static void read_trim_switch()
// increment index // increment index
CH7_wp_index++; CH7_wp_index++;
// set the next_WP, 0 is Home so we don't set that // set the next_WP (home is stored at 0)
// max out at 100 since I think we need to stay under the EEPROM limit // max out at 100 since I think we need to stay under the EEPROM limit
CH7_wp_index = constrain(CH7_wp_index, 1, 100); CH7_wp_index = constrain(CH7_wp_index, 1, 100);
@ -149,8 +150,11 @@ static void read_trim_switch()
// save command // save command
set_cmd_with_index(current_loc, CH7_wp_index); set_cmd_with_index(current_loc, CH7_wp_index);
// save the index // 0 = home
g.command_total.set_and_save(CH7_wp_index + 1); // 1 = takeoff
// 2 = WP 2
// 3 = command total
} }
} }
} }