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Copter: Set the flight mode at startup to the flight SW. #13330

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Copter: Set the flight mode at startup to the flight SW. #13330

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22 changes: 18 additions & 4 deletions ArduCopter/system.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -71,10 +71,6 @@ void Copter::init_ardupilot()
// init winch and wheel encoder
winch_init();

// initialise notify system
notify.init();
notify_flight_mode();

// initialise battery monitor
battery.init();

Expand Down Expand Up @@ -187,6 +183,24 @@ void Copter::init_ardupilot()
ins.set_hil_mode();
#endif

// Setting the flight mode of the flight mode switch
int8_t flightCH = copter.g.flight_mode_chan.get();
uint16_t ch_in = rc().channel(flightCH - 1)->get_radio_in();
int8_t position = 0;
if (ch_in < 1231) position = 0;
else if (ch_in < 1361) position = 1;
else if (ch_in < 1491) position = 2;
else if (ch_in < 1621) position = 3;
else if (ch_in < 1750) position = 4;
else position = 5;

control_mode = (enum Mode::Number)flight_modes[position].get();
flightmode = mode_from_mode_num(control_mode);

// initialise notify system
notify.init();
notify_flight_mode();

// read Baro pressure at ground
//-----------------------------
barometer.set_log_baro_bit(MASK_LOG_IMU);
Expand Down