From c2d56de26418df42babec5bf35717c8c1bfed087 Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@gmail.com>
Date: Wed, 21 Sep 2011 16:24:09 -0700
Subject: [PATCH] Added Auto_trim to CH7 option

---
 ArduCopter/APM_Config.h      | 3 ++-
 ArduCopter/control_modes.pde | 9 +++++++++
 ArduCopter/defines.h         | 1 +
 3 files changed, 12 insertions(+), 1 deletion(-)

diff --git a/ArduCopter/APM_Config.h b/ArduCopter/APM_Config.h
index 89d30859a3..8cdc69d950 100644
--- a/ArduCopter/APM_Config.h
+++ b/ArduCopter/APM_Config.h
@@ -48,13 +48,14 @@
     CH6_TRAVERSE_SPEED
 	*/
 
-# define CH7_OPTION		CH7_DO_NOTHING
+# define CH7_OPTION		CH7_RTL
 	/*
 	CH7_DO_NOTHING
 	CH7_SET_HOVER
 	CH7_FLIP
 	CH7_SIMPLE_MODE
 	CH7_RTL
+	CH7_AUTO_TRIM
 	*/
 
 // See the config.h and defines.h files for how to set this up!
diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 7e7b5c6456..90254fa29b 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -62,8 +62,12 @@ static void read_trim_switch()
 	//Serial.println(g.rc_7.control_in, DEC);
 
 #elif CH7_OPTION == CH7_RTL
+	if(control_mode == RTL && g.rc_7.control_in < 800){
+		reset_control_switch();
+	}
 	if(control_mode != RTL && g.rc_7.control_in > 800)
 		set_mode(RTL);
+
 	//do_simple = (g.rc_7.control_in > 800);
 	//Serial.println(g.rc_7.control_in, DEC);
 
@@ -84,7 +88,12 @@ static void read_trim_switch()
 			trim_flag = false;
 		}
 	}
+#elif CH7_OPTION == CH7_AUTO_TRIM
+	if (g.rc_7.control_in > 800){
+		auto_level_counter = 10;
+	}
 #endif
+
 }
 
 static void auto_trim()
diff --git a/ArduCopter/defines.h b/ArduCopter/defines.h
index 58070376dc..70d6dc3d04 100644
--- a/ArduCopter/defines.h
+++ b/ArduCopter/defines.h
@@ -32,6 +32,7 @@
 #define CH7_FLIP 2
 #define CH7_SIMPLE_MODE 3
 #define CH7_RTL 4
+#deinfe CH7_AUTO_TRIM 5
 
 // Frame types
 #define QUAD_FRAME 0