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Copter: GCS_MAVLink: use pos control is_active_xy to set base_mode GUIDED_ENABLED flag

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Iampete1 2024-09-15 16:19:24 +01:00 committed by Randy Mackay
parent 864fd9f15c
commit 25e77a5d9f
1 changed files with 1 additions and 15 deletions
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16
ArduCopter/GCS_Mavlink.cpp
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@ -37,25 +37,11 @@ MAV_MODE GCS_MAVLINK_Copter::base_mode() const
// only get useful information from the custom_mode, which maps to // only get useful information from the custom_mode, which maps to
// the APM flight mode and has a well defined meaning in the // the APM flight mode and has a well defined meaning in the
// ArduPlane documentation // ArduPlane documentation
switch (copter.flightmode->mode_number()) { if ((copter.pos_control != nullptr) && copter.pos_control->is_active_xy()) {
case Mode::Number::AUTO:
case Mode::Number::AUTO_RTL:
case Mode::Number::RTL:
case Mode::Number::LOITER:
case Mode::Number::AVOID_ADSB:
case Mode::Number::FOLLOW:
case Mode::Number::GUIDED:
case Mode::Number::CIRCLE:
case Mode::Number::POSHOLD:
case Mode::Number::BRAKE:
case Mode::Number::SMART_RTL:
_base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; _base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED;
// note that MAV_MODE_FLAG_AUTO_ENABLED does not match what // note that MAV_MODE_FLAG_AUTO_ENABLED does not match what
// APM does in any mode, as that is defined as "system finds its own goal // APM does in any mode, as that is defined as "system finds its own goal
// positions", which APM does not currently do // positions", which APM does not currently do
break;
default:
break;
} }
// all modes except INITIALISING have some form of manual // all modes except INITIALISING have some form of manual