From 69e5a4b2626bf67f4584e19b02a1f38d2e00f6d4 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Thu, 1 Nov 2018 15:11:37 +0900
Subject: [PATCH] Rover: sailboat tack triggered by any switch movement

---
 APMrover2/RC_Channel.cpp | 5 ++---
 1 file changed, 2 insertions(+), 3 deletions(-)

diff --git a/APMrover2/RC_Channel.cpp b/APMrover2/RC_Channel.cpp
index a6b93a5d88..0d1af1dabc 100644
--- 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
 
     // 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: