From 0bea96c3d024a728acee5aaba56ff1c86ef8737d Mon Sep 17 00:00:00 2001
From: jasonshort <jasonshort@f9c3cf11-9bcb-44bc-f272-b75c42450872>
Date: Fri, 5 Aug 2011 16:19:06 +0000
Subject: [PATCH] Added Jose Julio's Flip code, edited to work with AC2. Never
 flown or tested!

git-svn-id: https://arducopter.googlecode.com/svn/trunk@3020 f9c3cf11-9bcb-44bc-f272-b75c42450872
---
 ArduCopterMega/ArduCopterMega.pde | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/ArduCopterMega/ArduCopterMega.pde b/ArduCopterMega/ArduCopterMega.pde
index b067678596..88312c2e25 100644
--- a/ArduCopterMega/ArduCopterMega.pde
+++ b/ArduCopterMega/ArduCopterMega.pde
@@ -345,6 +345,11 @@ static float sin_pitch_y, sin_yaw_y, sin_roll_y;
 static bool simple_bearing_is_set = false;
 static long initial_simple_bearing;				// used for Simple mode
 
+// Acro
+#if CH7_OPTION == DO_FLIP
+static bool do_flip = false;
+#endif
+
 // Airspeed
 // --------
 static int		airspeed;							// m/s * 100
@@ -1086,6 +1091,13 @@ void update_location(void)
 
 void update_current_flight_mode(void)
 {
+	#if CH7_OPTION == DO_FLIP
+	if (do_flip){
+		roll_flip();
+		return;
+	}
+	#endif
+
 	if(control_mode == AUTO){
 
 		// this is a hack to prevent run up of the throttle I term for alt hold