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Copter: set Notify's autopilot_mode flag

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This commit is contained in:
Randy Mackay 2015-03-06 15:33:25 +09:00
parent 442d07a6c9
commit 61ed812fc4
1 changed files with 23 additions and 0 deletions
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23
ArduCopter/flight_mode.pde
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@ -112,6 +112,11 @@ static bool set_mode(uint8_t mode)
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
} }
// update notify object
if (success) {
notify_flight_mode(control_mode);
}
// return success or failure // return success or failure
return success; return success;
} }
@ -268,6 +273,24 @@ static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
return false; return false;
} }
// notify_flight_mode - sets notify object based on flight mode. Only used for OreoLED notify device
static void notify_flight_mode(uint8_t mode) {
switch(mode) {
case AUTO:
case GUIDED:
case RTL:
case CIRCLE:
case LAND:
// autopilot modes
AP_Notify::flags.autopilot_mode = true;
break;
default:
// all other are manual flight modes
AP_Notify::flags.autopilot_mode = false;
break;
}
}
// //
// print_flight_mode - prints flight mode to serial port. // print_flight_mode - prints flight mode to serial port.
// //