From e4559bbf5cfd9f8c2613f96a198e18fbf09f226f Mon Sep 17 00:00:00 2001
From: Jason Short <jasonshort@mac.com>
Date: Mon, 12 Dec 2011 10:20:15 -0800
Subject: [PATCH] Added param option for Simple mode reset

---
 ArduCopter/ArduCopter.pde | 7 ++++---
 ArduCopter/Parameters.h   | 4 ++++
 ArduCopter/config.h       | 4 ++++
 3 files changed, 12 insertions(+), 3 deletions(-)

diff --git a/ArduCopter/ArduCopter.pde b/ArduCopter/ArduCopter.pde
index 1619845fd5..fcc382913b 100644
--- a/ArduCopter/ArduCopter.pde
+++ b/ArduCopter/ArduCopter.pde
@@ -568,6 +568,8 @@ AP_Relay relay;
 	static bool usb_connected;
 #endif
 
+static float roll_I;
+static float pitch_I;
 
 ////////////////////////////////////////////////////////////////////////////////
 // Top-level logic
@@ -1261,10 +1263,9 @@ static void update_navigation()
 	}
 
 	// are we in SIMPLE mode?
-	if(do_simple){
+	if(do_simple && g.reset_simple){
 		// get distance to home
-		if(home_distance > 10){
-			// 10m
+		if(home_distance > 10){ // 10m from home
 			// we reset the angular offset to be a vector from home to the quad
 			initial_simple_bearing = home_to_copter_bearing;
 			//Serial.printf("ISB: %d\n", initial_simple_bearing);
diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
index 1bd53b77d0..2e40f43225 100644
--- a/ArduCopter/Parameters.h
+++ b/ArduCopter/Parameters.h
@@ -106,6 +106,7 @@ public:
 	k_param_low_voltage,
 	k_param_ch7_option,
 	k_param_sonar_type,  // 153
+	k_param_reset_simple,
 
 	//
 	// 160: Navigation parameters
@@ -200,6 +201,8 @@ public:
     AP_Int8		optflow_enabled;
     AP_Float	input_voltage;
 	AP_Float	low_voltage;
+	AP_Int8		reset_simple;
+
 
 	// Waypoints
 	//
@@ -315,6 +318,7 @@ public:
 	optflow_enabled			(OPTFLOW,					k_param_optflow_enabled,				PSTR("FLOW_ENABLE")),
 	input_voltage			(INPUT_VOLTAGE,				k_param_input_voltage,					PSTR("IN_VOLT")),
 	low_voltage				(LOW_VOLTAGE,				k_param_low_voltage,					PSTR("LOW_VOLT")),
+	reset_simple			(RESET_SIMPLE,				k_param_reset_simple,					PSTR("RST_SIMPL")),
 
 	waypoint_mode			(0,							k_param_waypoint_mode,					PSTR("WP_MODE")),
 	command_total			(0,							k_param_command_total,					PSTR("WP_TOTAL")),
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index bd066a82fd..ae4d6cd402 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -468,6 +468,10 @@
 # define RTL_THR			THROTTLE_HOLD
 #endif
 
+#ifndef RESET_SIMPLE
+# define RESET_SIMPLE		DISABLED
+#endif
+