From f1239d42a00cc7bca574d3b02578c7672a493f13 Mon Sep 17 00:00:00 2001
From: deadprogram <ron@hybridgroup.com>
Date: Tue, 12 Apr 2016 14:27:30 -0700
Subject: [PATCH] Change default value for PCMD flag to match the Bebop 2.0.57+
 expectations

Signed-off-by: deadprogram <ron@hybridgroup.com>
---
 platforms/bebop/client/client.go           | 12 ++++++++++--
 platforms/bebop/client/examples/takeoff.go |  3 ---
 2 files changed, 10 insertions(+), 5 deletions(-)

diff --git a/platforms/bebop/client/client.go b/platforms/bebop/client/client.go
index 201fb940..fc92b9fa 100644
--- a/platforms/bebop/client/client.go
+++ b/platforms/bebop/client/client.go
@@ -179,7 +179,7 @@ func New() *Bebop {
 		DiscoveryPort:         44444,
 		networkFrameGenerator: networkFrameGenerator(),
 		Pcmd: Pcmd{
-			Flag:  1,
+			Flag:  0,
 			Roll:  0,
 			Pitch: 0,
 			Yaw:   0,
@@ -382,48 +382,56 @@ func (b *Bebop) Land() error {
 }
 
 func (b *Bebop) Up(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Gaz = validatePitch(val)
 	return nil
 }
 
 func (b *Bebop) Down(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Gaz = validatePitch(val) * -1
 	return nil
 }
 
 func (b *Bebop) Forward(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Pitch = validatePitch(val)
 	return nil
 }
 
 func (b *Bebop) Backward(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Pitch = validatePitch(val) * -1
 	return nil
 }
 
 func (b *Bebop) Right(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Roll = validatePitch(val)
 	return nil
 }
 
 func (b *Bebop) Left(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Roll = validatePitch(val) * -1
 	return nil
 }
 
 func (b *Bebop) Clockwise(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Yaw = validatePitch(val)
 	return nil
 }
 
 func (b *Bebop) CounterClockwise(val int) error {
+	b.Pcmd.Flag = 1
 	b.Pcmd.Yaw = validatePitch(val) * -1
 	return nil
 }
 
 func (b *Bebop) Stop() error {
 	b.Pcmd = Pcmd{
-		Flag:  1,
+		Flag:  0,
 		Roll:  0,
 		Pitch: 0,
 		Yaw:   0,
diff --git a/platforms/bebop/client/examples/takeoff.go b/platforms/bebop/client/examples/takeoff.go
index 9ee9a723..0bc2b072 100644
--- a/platforms/bebop/client/examples/takeoff.go
+++ b/platforms/bebop/client/examples/takeoff.go
@@ -15,10 +15,7 @@ func main() {
 		return
 	}
 
-	fmt.Println("hull")
 	bebop.HullProtection(true)
-	//fmt.Println("outdoor")
-	//bebop.Outdoor(false)
 
 	fmt.Println("takeoff")
 	if err := bebop.TakeOff(); err != nil {