From 5f601bf5ab8586575579b48093ed9f765fb9c695 Mon Sep 17 00:00:00 2001
From: peabody124 <peabody124>
Date: Sun, 10 Oct 2010 00:46:04 +0000
Subject: [PATCH] Flight/Guidance: Enable for any type of quad airframe

git-svn-id: svn://svn.openpilot.org/OpenPilot/trunk@1932 ebee16cc-31ac-478f-84a7-5cbb03baadba
---
 flight/OpenPilot/Modules/Guidance/guidance.c      | 4 +++-
 ground/src/plugins/magicwaypoint/magicwaypoint.ui | 4 ++--
 2 files changed, 5 insertions(+), 3 deletions(-)

diff --git a/flight/OpenPilot/Modules/Guidance/guidance.c b/flight/OpenPilot/Modules/Guidance/guidance.c
index d918b904f..ecca4cf3a 100644
--- a/flight/OpenPilot/Modules/Guidance/guidance.c
+++ b/flight/OpenPilot/Modules/Guidance/guidance.c
@@ -109,7 +109,9 @@ static void guidanceTask(void *parameters)
 		GuidanceSettingsGet(&guidanceSettings);
 
 		if ((manualControl.FlightMode == MANUALCONTROLCOMMAND_FLIGHTMODE_AUTO) &&
-		    (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL)) {
+		    ((systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_VTOL) ||
+		     (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADP) ||
+		     (systemSettings.AirframeType == SYSTEMSETTINGS_AIRFRAMETYPE_QUADX))){
 			updateVtolDesiredVelocity();
 			updateVtolDesiredAttitude();
 		} else {
diff --git a/ground/src/plugins/magicwaypoint/magicwaypoint.ui b/ground/src/plugins/magicwaypoint/magicwaypoint.ui
index e92644093..37a4fb562 100644
--- a/ground/src/plugins/magicwaypoint/magicwaypoint.ui
+++ b/ground/src/plugins/magicwaypoint/magicwaypoint.ui
@@ -7,7 +7,7 @@
     <x>0</x>
     <y>0</y>
     <width>653</width>
-    <height>295</height>
+    <height>296</height>
    </rect>
   </property>
   <property name="sizePolicy">
@@ -71,7 +71,7 @@
           <number>1</number>
          </property>
          <property name="maximum">
-          <number>999</number>
+          <number>9999</number>
          </property>
          <property name="orientation">
           <enum>Qt::Horizontal</enum>