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AP_Tuning: added TUNE_MODE_REVERT parameter

This commit is contained in:
Andrew Tridgell 2016-05-27 12:51:03 +10:00
parent 47c5eaa3ac
commit fdac1d26cc
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_Tuning/AP_Tuning.cpp
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@ -40,6 +40,13 @@ const AP_Param::GroupInfo AP_Tuning::var_info[] = {
// @User: Standard
AP_GROUPINFO("RANGE", 5, AP_Tuning, range, 2.0f),
// @Param: MODE_REVERT
// @DisplayName: Revert on mode change
// @Description: This controls whether tuning values will revert on a flight mode change.
// @Values: 0:Disable,1:Enable
// @User: Standard
AP_GROUPINFO("MODE_REVERT", 6, AP_Tuning, mode_revert, 1),
AP_GROUPEND
};
@ -113,7 +120,7 @@ void AP_Tuning::check_input(uint8_t flightmode)
// check for revert on changed flightmode
if (flightmode != last_flightmode) {
if (need_revert != 0) {
if (need_revert != 0 && mode_revert != 0) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Tuning: reverted");
revert_parameters();
re_center();

1
libraries/AP_Tuning/AP_Tuning.h
View File

@ -45,6 +45,7 @@ private:
AP_Int16 channel_max;
AP_Int8 selector;
AP_Float range;
AP_Int8 mode_revert;
// when selector was triggered
uint32_t selector_start_ms;