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From: | Felix Ruess |
Subject: | Re: [Paparazzi-devel] Why can't I switch the mode from HOME back to AUTO2 through my remote control for my lisa? |
Date: | Mon, 25 Jun 2012 18:47:03 +0200 |
Hello,everyone.I have rewrote some of the code in sw/airborne/firmwares/fixedwing/main_ap.c. So that I can switch the mode to "PPRZ_MODE_HOME" through my remote control directly.And it works very well in my UMARIM1.0.But it doesn't do the same in my LISA/M. I can switch the mode from AUTO2 to HOME,however I can't switch it back to the AUTO2 through my remote control.What causes the different between UMARIM and LISA?And this is my code in the function :pprz_mode_update() of the fixedwing/main_ap.cstatic inline uint8_t pprz_mode_update( void ) {
uint8_t old_status;
if ((pprz_mode != PPRZ_MODE_HOME &&
pprz_mode != PPRZ_MODE_GPS_OUT_OF_ORDER)
#ifdef UNLOCKED_HOME_MODE
|| TRUE
#endif
) {
old_status=pprz_mode;
ModeUpdate(pprz_mode, PPRZ_MODE_OF_PULSE(fbw_state->channels[RADIO_MODE]));
ModeUpdate(pprz_mode, PPRZ_MODE2_OF_PULSE(fbw_state->channels[RADIO_MODE2],pprz_mode)); //it's the function which can switch the current mode to HOME or reverse
if(old_status!=pprz_mode)return TRUE;
else return FALSE;
} else
return FALSE;
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