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Copter: beep on mode change/change failure for aux switch changes

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Peter Barker 2018-12-20 22:06:51 +11:00 committed by Randy Mackay
parent d3bea0c176
commit 41cd906641
1 changed files with 10 additions and 2 deletions
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12
ArduCopter/RC_Channel.cpp
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@ -116,10 +116,18 @@ void RC_Channel_Copter::do_aux_function_change_mode(const control_mode_t mode,
const aux_switch_pos_t ch_flag) const aux_switch_pos_t ch_flag)
{ {
switch(ch_flag) { switch(ch_flag) {
case HIGH: case HIGH: {
// engage mode (if not possible we remain in current flight mode) // engage mode (if not possible we remain in current flight mode)
copter.set_mode(mode, MODE_REASON_TX_COMMAND); const bool success = copter.set_mode(mode, MODE_REASON_TX_COMMAND);
if (copter.ap.initialised) {
if (success) {
AP_Notify::events.user_mode_change = 1;
} else {
AP_Notify::events.user_mode_change_failed = 1;
}
}
break; break;
}
default: default:
// return to flight mode switch's flight mode if we are currently // return to flight mode switch's flight mode if we are currently
// in this mode // in this mode