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Fixed for sticky RTL CH7 option

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This commit is contained in:
Jason Short 2011-09-22 15:25:07 -07:00
parent 078f64e276
commit f49621bde1
1 changed files with 14 additions and 9 deletions
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23
ArduCopter/control_modes.pde
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@ -62,14 +62,19 @@ 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);
static bool ch7_rtl_flag = false;
//do_simple = (g.rc_7.control_in > 800);
//Serial.println(g.rc_7.control_in, DEC);
if (ch7_rtl_flag == false && g.rc_7.control_in > 800){
ch7_rtl_flag = true;
set_mode(RTL);
}
if (ch7_rtl_flag == true && g.rc_7.control_in < 800){
ch7_rtl_flag = false;
if (control_mode == RTL || control_mode == LOITER){
reset_control_switch();
}
}
#elif CH7_OPTION == CH7_SET_HOVER
// switch is engaged
@ -125,13 +130,13 @@ static void trim_accel()
g.pi_stabilize_roll.reset_I();
g.pi_stabilize_pitch.reset_I();
if(g.rc_1.control_in > 0){
if(g.rc_1.control_in > 0){ // Roll RIght
imu.ay(imu.ay() + 1);
}else if (g.rc_1.control_in < 0){
imu.ay(imu.ay() - 1);
}
if(g.rc_2.control_in > 0){
if(g.rc_2.control_in > 0){ // Pitch Back
imu.ax(imu.ax() + 1);
}else if (g.rc_2.control_in < 0){
imu.ax(imu.ax() - 1);