Rover: sailboat tack triggered by any switch movement

6 years ago · 69e5a4b262
1 changed files with 2 additions and 3 deletions
--- a/APMrover2/RC_Channel.cpp
+++ b/APMrover2/RC_Channel.cpp
@ -237,9 +237,8 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
				@@ -237,9 +237,8 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi

    // trigger sailboat tack
    case SAILBOAT_TACK:
-        if (ch_flag == HIGH) {
-            rover.control_mode->handle_tack_request();
-        }
+        // any switch movement interpreted as request to tack
+        rover.control_mode->handle_tack_request();
        break;

    default: