From 4f242aedec3e3f31a46ab2e6a0f13c854facb777 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 17 Dec 2013 14:13:32 +1100
Subject: [PATCH] Plane: fixed a bug where mode would not revert on geo-fence
 disable

the mode would not revert if the switch was in position 0
---
 ArduPlane/ArduPlane.pde     | 10 ++++++----
 ArduPlane/control_modes.pde |  2 +-
 ArduPlane/geofence.pde      |  3 ++-
 3 files changed, 9 insertions(+), 6 deletions(-)

diff --git a/ArduPlane/ArduPlane.pde b/ArduPlane/ArduPlane.pde
index 8add040fbd..09b4b52d9f 100644
--- a/ArduPlane/ArduPlane.pde
+++ b/ArduPlane/ArduPlane.pde
@@ -350,12 +350,14 @@ static bool usb_connected;
 ////////////////////////////////////////////////////////////////////////////////
 // This is the state of the flight control system
 // There are multiple states defined such as MANUAL, FBW-A, AUTO
-enum FlightMode control_mode  = INITIALISING;
+static enum FlightMode control_mode  = INITIALISING;
+
 // Used to maintain the state of the previous control switch position
-// This is set to -1 when we need to re-read the switch
-uint8_t oldSwitchPosition;
+// This is set to 254 when we need to re-read the switch
+static uint8_t oldSwitchPosition = 254;
+
 // This is used to enable the inverted flight feature
-bool inverted_flight     = false;
+static bool inverted_flight     = false;
 
 static struct {
     // These are trim values used for elevon control
diff --git a/ArduPlane/control_modes.pde b/ArduPlane/control_modes.pde
index 9930b89f40..5f5c9f010d 100644
--- a/ArduPlane/control_modes.pde
+++ b/ArduPlane/control_modes.pde
@@ -70,7 +70,7 @@ static uint8_t readSwitch(void){
 
 static void reset_control_switch()
 {
-    oldSwitchPosition = 0;
+    oldSwitchPosition = 254;
     read_control_switch();
 }
 
diff --git a/ArduPlane/geofence.pde b/ArduPlane/geofence.pde
index 2cb2588e54..5cd4b247c5 100644
--- a/ArduPlane/geofence.pde
+++ b/ArduPlane/geofence.pde
@@ -87,6 +87,7 @@ static void geofence_load(void)
             // not much we can do here except disable it
             goto failed;
         }
+        geofence_state->old_switch_position = 254;
     }
 
     if (g.fence_total <= 0) {
@@ -188,7 +189,7 @@ static void geofence_check(bool altitude_check_only)
             geofence_state->old_switch_position == oldSwitchPosition &&
             guided_WP.lat == geofence_state->boundary[0].x &&
             guided_WP.lng == geofence_state->boundary[0].y) {
-            geofence_state->old_switch_position = 0;
+            geofence_state->old_switch_position = 254;
             reset_control_switch();
         }
         return;