From 37ba279b782497df548ae5455b765bfb62490bdd Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 10 Jan 2014 11:06:06 +0900
Subject: [PATCH] TradHeli: Drift mode to use heli manual throttle
---
ArduCopter/config.h | 6 ++++++
ArduCopter/system.pde | 2 +-
2 files changed, 7 insertions(+), 1 deletion(-)
diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index f0b9eb7be..a54ef6982 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -112,6 +112,7 @@
# define HELI_ROLL_FF 0
# define HELI_YAW_FF 0
# define STABILIZE_THR THROTTLE_MANUAL_HELI
+ # define DRIFT_THR THROTTLE_MANUAL_HELI
# define MPU6K_FILTER 10
# define HELI_STAB_COLLECTIVE_MIN_DEFAULT 0
# define HELI_STAB_COLLECTIVE_MAX_DEFAULT 1000
@@ -571,6 +572,11 @@
# define ACRO_LEVEL_MAX_ANGLE 3000
#endif
+// Drift Mode
+#ifndef DRIFT_THR
+ # define DRIFT_THR THROTTLE_MANUAL_TILT_COMPENSATED
+#endif
+
// Sport Mode
#ifndef SPORT_YAW
# define SPORT_YAW YAW_HOLD
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index 9978dcd67..bba544ddf 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -451,7 +451,7 @@ static bool set_mode(uint8_t mode)
set_yaw_mode(YAW_DRIFT);
set_roll_pitch_mode(ROLL_PITCH_DRIFT);
set_nav_mode(NAV_NONE);
- set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED);
+ set_throttle_mode(DRIFT_THR);
break;
case SPORT:
--
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