From aa4d4f8c24fe2f073aeb1e3ae044bf49e8c01cfc Mon Sep 17 00:00:00 2001
From: Robert Lefebvre <robert.lefebvre@gmail.com>
Date: Sat, 8 Dec 2012 20:41:05 -0500
Subject: [PATCH] ACM: Adding Pre-Compiler Define for Stabilize Throttle Mode.

---
 ArduCopter/config.h   | 8 +++++++-
 ArduCopter/system.pde | 2 +-
 2 files changed, 8 insertions(+), 2 deletions(-)

diff --git a/ArduCopter/config.h b/ArduCopter/config.h
index ccebaf3b72..b7acf013c2 100644
--- a/ArduCopter/config.h
+++ b/ArduCopter/config.h
@@ -96,7 +96,8 @@
   # define HELI_ROLL_FF					0
   # define HELI_YAW_FF					0  
   # define RC_FAST_SPEED 				125
- #endif
+  # define STABILIZE_THROTTLE			THROTTLE_MANUAL
+#endif
 
 
 // optical flow doesn't work in SITL yet
@@ -534,6 +535,11 @@
 #define EARTH_FRAME     0
 #define BODY_FRAME      1
 
+// Stabilize Mode
+#ifndef STABILIZE_THROTTLE
+ # define STABILIZE_THROTTLE		THROTTLE_MANUAL_TILT_COMPENSATED
+#endif
+
 // Alt Hold Mode
 #ifndef ALT_HOLD_YAW
  # define ALT_HOLD_YAW           	YAW_HOLD
diff --git a/ArduCopter/system.pde b/ArduCopter/system.pde
index eca4275a85..49004829ff 100644
--- a/ArduCopter/system.pde
+++ b/ArduCopter/system.pde
@@ -447,7 +447,7 @@ static void set_mode(byte mode)
     	ap.manual_attitude = true;
         set_yaw_mode(YAW_HOLD);
         set_roll_pitch_mode(ROLL_PITCH_STABLE);
-        set_throttle_mode(THROTTLE_MANUAL_TILT_COMPENSATED);
+        set_throttle_mode(STABILIZE_THROTTLE);
         break;
 
     case ALT_HOLD: