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proposed radio failsafe bug fix

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Dr Gareth Owen 2013-06-11 16:55:49 +01:00 committed by rmackay9
parent 917ae883a0
commit e0dcd680f7
1 changed files with 9 additions and 9 deletions
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18
ArduCopter/control_modes.pde
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@ -7,22 +7,22 @@ static void read_control_switch()
uint8_t switchPosition = readSwitch();
if (oldSwitchPosition != switchPosition) {
// has switch moved?
// ignore flight mode changes if in failsafe
if (oldSwitchPosition != switchPosition && !ap.failsafe_radio) {
switch_counter++;
if(switch_counter >= CONTROL_SWITCH_COUNTER) {
oldSwitchPosition = switchPosition;
switch_counter = 0;
// ignore flight mode changes if in failsafe
if( !ap.failsafe_radio ) {
set_mode(flight_modes[switchPosition]);
set_mode(flight_modes[switchPosition]);
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
}
if(g.ch7_option != AUX_SWITCH_SIMPLE_MODE && g.ch8_option != AUX_SWITCH_SIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
}
}
}else{
// reset switch_counter if there's been no change