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Rev 103 | Rev 105 | ||
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Line 202... | Line 202... | ||
202 | // FlightMode changed? |
202 | // FlightMode changed? |
203 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
203 | if(GPS_Parameter.FlightMode != FlightMode_Old) |
204 | { |
204 | { |
205 | BeepTime = 100; // beep to indicate that mode has been switched |
205 | BeepTime = 100; // beep to indicate that mode has been switched |
206 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
206 | NCFlags &= ~NC_FLAG_TARGET_REACHED; |
- | 207 | ||
- | 208 | if(GPS_Parameter.FlightMode == GPS_FLIGHT_MODE_WAYPOINT) GPS_pWaypoint = WPList_Begin(); // reset WPList to begin |
|
207 | } |
209 | } |
208 | FlightMode_Old = GPS_Parameter.FlightMode; |
210 | FlightMode_Old = GPS_Parameter.FlightMode; |
209 | } |
211 | } |
Line 210... | Line 212... | ||
210 | 212 | ||
Line 465... | Line 467... | ||
465 | break; |
467 | break; |
Line 466... | Line 468... | ||
466 | 468 | ||
467 | // the GPS supports the position hold, if the pilot takes no action |
469 | // the GPS supports the position hold, if the pilot takes no action |
Line 468... | Line -... | ||
468 | case GPS_FLIGHT_MODE_AID: |
- | |
469 | - | ||
470 | // reset WPList to begin |
- | |
471 | GPS_pWaypoint = WPList_Begin(); |
470 | case GPS_FLIGHT_MODE_AID: |
472 | 471 | ||
473 | if(GPS_IsManuallyControlled()) |
472 | if(GPS_IsManuallyControlled()) |
474 | { |
473 | { |
475 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |
474 | GPS_Parameter.PID_Limit = 0; // disables PID output, as long as the manual conrol is active |