From 02dfac7e6eac74961f6279c96e97de39b2ba369c Mon Sep 17 00:00:00 2001
From: Cliff Geerdes <cliffsjunk@att.net>
Date: Fri, 17 Jan 2014 23:52:16 -0500
Subject: [PATCH] OP-1167 set default for FSM switch to first position

---
 flight/modules/ManualControl/manualcontrol.c        | 2 +-
 shared/uavobjectdefinition/manualcontrolcommand.xml | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c
index e45ca819d..50377c99e 100644
--- a/flight/modules/ManualControl/manualcontrol.c
+++ b/flight/modules/ManualControl/manualcontrol.c
@@ -331,6 +331,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
                 if (settings.FailsafeBehavior != MANUALCONTROLSETTINGS_FAILSAFEBEHAVIOR_NONE) {
                     FlightStatusGet(&flightStatus);
 
+                    cmd.FlightModeSwitchPosition = (uint8_t) settings.FailsafeBehavior - 1;
                     flightStatus.FlightMode = settings.FlightModePosition[settings.FailsafeBehavior - 1];
                     FlightStatusSet(&flightStatus);
                 }
@@ -358,7 +359,6 @@ static void manualControlTask(__attribute__((unused)) void *parameters)
                         AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING);
                     }
                 }
-                cmd.FlightModeSwitchPosition = (uint8_t)255;
             } else if (valid_input_detected) {
                 AlarmsClear(SYSTEMALARMS_ALARM_MANUALCONTROL);
 
diff --git a/shared/uavobjectdefinition/manualcontrolcommand.xml b/shared/uavobjectdefinition/manualcontrolcommand.xml
index 27128ddba..8c0c6f3a2 100644
--- a/shared/uavobjectdefinition/manualcontrolcommand.xml
+++ b/shared/uavobjectdefinition/manualcontrolcommand.xml
@@ -8,7 +8,7 @@
         <field name="Yaw" units="%" type="float" elements="1"/>
         <field name="Collective" units="%" type="float" elements="1"/>
 	<field name="Channel" units="us" type="uint16" elements="9"/>
-	<field name="FlightModeSwitchPosition" units="" type="uint8" elements="1"/>
+	<field name="FlightModeSwitchPosition" units="" type="uint8" elements="1" defaultvalue="0"/>
         <access gcs="readwrite" flight="readwrite"/>
         <telemetrygcs acked="false" updatemode="manual" period="0"/>
         <telemetryflight acked="false" updatemode="periodic" period="2000"/>