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Plane: implement FLTMODE_GCSBLOCK bitmask

This commit is contained in:
Iampete1 2023-06-18 16:31:10 +01:00 committed by Peter Hall
parent 678017c577
commit 61682f6551
2 changed files with 41 additions and 0 deletions
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1
ArduPlane/Plane.h
View File

@ -1074,6 +1074,7 @@ private:
bool should_log(uint32_t mask);
int8_t throttle_percentage(void);
void notify_mode(const Mode& mode);
bool gcs_mode_enabled(const Mode::Number mode_num) const;
// takeoff.cpp
bool auto_takeoff_check(void);

40
ArduPlane/system.cpp
View File

@ -223,6 +223,40 @@ static bool mode_reason_is_landing_sequence(const ModeReason reason)
}
#endif // AP_FENCE_ENABLED
// Check if this mode can be entered from the GCS
bool Plane::gcs_mode_enabled(const Mode::Number mode_num) const
{
// List of modes that can be blocked, index is bit number in parameter bitmask
static const uint8_t mode_list [] {
(uint8_t)Mode::Number::MANUAL,
(uint8_t)Mode::Number::CIRCLE,
(uint8_t)Mode::Number::STABILIZE,
(uint8_t)Mode::Number::TRAINING,
(uint8_t)Mode::Number::ACRO,
(uint8_t)Mode::Number::FLY_BY_WIRE_A,
(uint8_t)Mode::Number::FLY_BY_WIRE_B,
(uint8_t)Mode::Number::CRUISE,
(uint8_t)Mode::Number::AUTOTUNE,
(uint8_t)Mode::Number::AUTO,
(uint8_t)Mode::Number::LOITER,
(uint8_t)Mode::Number::TAKEOFF,
(uint8_t)Mode::Number::AVOID_ADSB,
(uint8_t)Mode::Number::GUIDED,
(uint8_t)Mode::Number::THERMAL,
#if HAL_QUADPLANE_ENABLED
(uint8_t)Mode::Number::QSTABILIZE,
(uint8_t)Mode::Number::QHOVER,
(uint8_t)Mode::Number::QLOITER,
(uint8_t)Mode::Number::QACRO,
#if QAUTOTUNE_ENABLED
(uint8_t)Mode::Number::QAUTOTUNE
#endif
#endif
};
return !block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list));
}
bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
{
@ -272,6 +306,12 @@ bool Plane::set_mode(Mode &new_mode, const ModeReason reason)
}
#endif
// Check if GCS mode change is disabled via parameter
if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled(new_mode.mode_number())) {
gcs().send_text(MAV_SEVERITY_NOTICE,"Mode change to %s denied, GCS entry disabled (FLTMODE_GCSBLOCK)", new_mode.name());
return false;
}
// backup current control_mode and previous_mode
Mode &old_previous_mode = *previous_mode;
Mode &old_mode = *control_mode;