From fb0f5d46bac5cfd20f589dadae083d0716307ab7 Mon Sep 17 00:00:00 2001
From: Andrew Tridgell <tridge@samba.org>
Date: Tue, 23 Apr 2013 23:05:42 +1000
Subject: [PATCH] Copter: use BIT_IF_SET()

this should fix the problem with simple mode on PX4

Pair-Programmed-With: Randy Mackay <rmackay9@yahoo.com>
---
 ArduCopter/control_modes.pde |  2 +-
 ArduCopter/setup.pde         | 10 +++++-----
 2 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/ArduCopter/control_modes.pde b/ArduCopter/control_modes.pde
index 22715340f9..d31603a34a 100644
--- a/ArduCopter/control_modes.pde
+++ b/ArduCopter/control_modes.pde
@@ -20,7 +20,7 @@ static void read_control_switch()
                 if(g.ch7_option != CH7_SIMPLE_MODE) {
                     // set Simple mode using stored paramters from Mission planner
                     // rather than by the control switch
-                    set_simple_mode(g.simple_modes & (1 << switchPosition));
+                    set_simple_mode(BIT_IS_SET(g.simple_modes, switchPosition));
                 }
             }
         }
diff --git a/ArduCopter/setup.pde b/ArduCopter/setup.pde
index e2030156ad..d8b369ad05 100644
--- a/ArduCopter/setup.pde
+++ b/ArduCopter/setup.pde
@@ -334,7 +334,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
             mode = constrain_int16(mode, 0, NUM_MODES-1);
 
             // update the user
-            print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
+            print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
 
             // Remember switch position
             _oldSwitchPosition = _switchPosition;
@@ -350,7 +350,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
             flight_modes[_switchPosition] = mode;
 
             // print new mode
-            print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
+            print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
             delay(500);
         }
 
@@ -358,7 +358,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
         if (g.rc_4.control_in > 3000) {
             g.simple_modes |= (1<<_switchPosition);
             // print new mode
-            print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
+            print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
             delay(500);
         }
 
@@ -366,7 +366,7 @@ setup_flightmodes(uint8_t argc, const Menu::arg *argv)
         if (g.rc_4.control_in < -3000) {
             g.simple_modes &= ~(1<<_switchPosition);
             // print new mode
-            print_switch(_switchPosition, mode, (g.simple_modes & (1<<_switchPosition)));
+            print_switch(_switchPosition, mode, BIT_IS_SET(g.simple_modes, _switchPosition));
             delay(500);
         }
 
@@ -1163,7 +1163,7 @@ static void report_flight_modes()
     print_divider();
 
     for(int16_t i = 0; i < 6; i++ ) {
-        print_switch(i, flight_modes[i], (g.simple_modes & (1<<i)));
+        print_switch(i, flight_modes[i], BIT_IS_SET(g.simple_modes, i));
     }
     print_blanks(2);
 }