temp removed altitude requirement

change PWM scaling technique for Ch1, Ch2, Ch4

git-svn-id: https://arducopter.googlecode.com/svn/trunk@2094 f9c3cf11-9bcb-44bc-f272-b75c42450872

ArduCopterMega/commands_logic.pde

@@ -257,6 +257,9 @@ void do_nav_wp()
 		// we don't need to worry about it
 		wp_verify_byte |= NAV_ALTITUDE;
 	}
+
+	// lets ignore this for today.
+	wp_verify_byte |= NAV_ALTITUDE;
 }
 
 void do_land()

ArduCopterMega/defines.h

@@ -67,6 +67,11 @@
 #define CH_RUDDER CH_4
 #define CH_YAW CH_4
 
+
+#define RC_CHANNEL_ANGLE 0
+#define RC_CHANNEL_RANGE 1
+#define RC_CHANNEL_ANGLE_RAW 2
+
 // HIL enumerations
 #define HIL_PROTOCOL_XPLANE			1
 #define HIL_PROTOCOL_MAVLINK		2

ArduCopterMega/radio.pde

@@ -16,6 +16,10 @@ void init_rc_in()
 	g.rc_3.scale_output = .9;
 	g.rc_4.set_angle(4500);
 
+	g.rc_1.set_type(RC_CHANNEL_ANGLE_RAW);
+	g.rc_2.set_type(RC_CHANNEL_ANGLE_RAW);
+	g.rc_4.set_type(RC_CHANNEL_ANGLE_RAW);
+
 	// set rc dead zones
 	g.rc_1.dead_zone = 60;		// 60 = .6 degrees
 	g.rc_2.dead_zone = 60;