Copter: FlightMode - remove function parameters

Use current control_mode in place of parameters

Once conversion is complete these functions will disappear

ArduCopter/AP_Arming.cpp

@@ -378,7 +378,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
     }
 
     // check if flight mode requires GPS
-    bool mode_requires_gps = copter.mode_requires_GPS(copter.control_mode);
+    bool mode_requires_gps = copter.mode_requires_GPS();
 
     // check if fence requires GPS
     bool fence_requires_gps = false;
@@ -586,7 +586,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     control_mode_t control_mode = copter.control_mode;
 
     // always check if the current mode allows arming
-    if (!copter.mode_allows_arming(control_mode, arming_from_gcs)) {
+    if (!copter.mode_allows_arming(arming_from_gcs)) {
         if (display_failure) {
             gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
         }

ArduCopter/ArduCopter.cpp

@@ -387,7 +387,7 @@ void Copter::ten_hz_logging_loop()
     if (should_log(MASK_LOG_RCOUT)) {
         DataFlash.Log_Write_RCOUT();
     }
-    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS(control_mode) || landing_with_GPS())) {
+    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS() || landing_with_GPS())) {
         Log_Write_Nav_Tuning();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {

ArduCopter/Copter.h

@@ -1006,10 +1006,10 @@ private:
     bool set_mode(control_mode_t mode, mode_reason_t reason);
     void update_flight_mode();
     void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
-    bool mode_requires_GPS(control_mode_t mode);
+    bool mode_requires_GPS();
     bool mode_has_manual_throttle(control_mode_t mode);
-    bool mode_allows_arming(control_mode_t mode, bool arming_from_gcs);
-    void notify_flight_mode(control_mode_t mode);
+    bool mode_allows_arming(bool arming_from_gcs);
+    void notify_flight_mode();
     void heli_init();
     void check_dynamic_flight(void);
     void update_heli_control_dynamics(void);

ArduCopter/flight_mode.cpp

@@ -173,7 +173,7 @@ failed:
 
     // update notify object
     if (success) {
-        notify_flight_mode(control_mode);
+        notify_flight_mode();
     }
 
     // return success or failure
@@ -339,13 +339,13 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
 #endif //HELI_FRAME
 }
 
-// returns true or false whether mode requires GPS
-bool Copter::mode_requires_GPS(control_mode_t mode)
+// returns true or false whether current control mode requires GPS
+bool Copter::mode_requires_GPS()
 {
     if (flightmode != nullptr) {
         return flightmode->requires_GPS();
     }
-    switch (mode) {
+    switch (control_mode) {
         case AUTO:
         case GUIDED:
         case LOITER:
@@ -375,30 +375,31 @@ bool Copter::mode_has_manual_throttle(control_mode_t mode)
     }
 }
 
-// mode_allows_arming - returns true if vehicle can be armed in the specified mode
+// mode_allows_arming - returns true if vehicle can be armed in the current mode
 //  arming_from_gcs should be set to true if the arming request comes from the ground station
-bool Copter::mode_allows_arming(control_mode_t mode, bool arming_from_gcs)
+bool Copter::mode_allows_arming(bool arming_from_gcs)
 {
     if (flightmode != nullptr) {
         return flightmode->allows_arming(arming_from_gcs);
     }
+    control_mode_t mode = control_mode;
     if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && (mode == GUIDED || mode == GUIDED_NOGPS))) {
         return true;
     }
     return false;
 }
 
-// notify_flight_mode - sets notify object based on flight mode.  Only used for OreoLED notify device
-void Copter::notify_flight_mode(control_mode_t mode)
+// notify_flight_mode - sets notify object based on current flight mode.  Only used for OreoLED notify device
+void Copter::notify_flight_mode()
 {
-    AP_Notify::flags.flight_mode = mode;
+    AP_Notify::flags.flight_mode = control_mode;
 
     if (flightmode != nullptr) {
         AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
         notify.set_flight_mode_str(flightmode->name4());
         return;
     }
-    switch (mode) {
+    switch (control_mode) {
         case AUTO:
         case GUIDED:
         case RTL:
@@ -417,7 +418,7 @@ void Copter::notify_flight_mode(control_mode_t mode)
     }
 
     // set flight mode string
-    switch (mode) {
+    switch (control_mode) {
         case STABILIZE:
             notify.set_flight_mode_str("STAB");
             break;

ArduCopter/land_detector.cpp

@@ -111,7 +111,7 @@ void Copter::set_land_complete(bool b)
     
     // trigger disarm-on-land if configured
     bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
-    bool mode_disarms_on_land = mode_allows_arming(control_mode,false) && !mode_has_manual_throttle(control_mode);
+    bool mode_disarms_on_land = mode_allows_arming(false) && !mode_has_manual_throttle(control_mode);
 
     if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
         init_disarm_motors();

ArduCopter/system.cpp

@@ -82,7 +82,7 @@ void Copter::init_ardupilot()
 
     // initialise notify system
     notify.init(true);
-    notify_flight_mode(control_mode);
+    notify_flight_mode();
 
     // initialise battery monitor
     battery.init();