Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: implement FLTMODE_GCSBLOCK bitmask

This commit is contained in:
Iampete1 2023-06-18 16:31:03 +01:00 committed by Peter Hall
parent df8aee1567
commit 678017c577
2 changed files with 54 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
ArduCopter/Copter.h
View File

@ -857,6 +857,9 @@ private:
void update_flight_mode();
void notify_flight_mode();
// Check if this mode can be entered from the GCS
bool gcs_mode_enabled(const Mode::Number mode_num);
// mode_land.cpp
void set_mode_land_with_pause(ModeReason reason);
bool landing_with_GPS();

51
ArduCopter/mode.cpp
View File

@ -194,6 +194,52 @@ void Copter::mode_change_failed(const Mode *mode, const char *reason)
}
}
// Check if this mode can be entered from the GCS
bool Copter::gcs_mode_enabled(const Mode::Number mode_num)
{
// List of modes that can be blocked, index is bit number in parameter bitmask
static const uint8_t mode_list [] {
(uint8_t)Mode::Number::STABILIZE,
(uint8_t)Mode::Number::ACRO,
(uint8_t)Mode::Number::ALT_HOLD,
(uint8_t)Mode::Number::AUTO,
(uint8_t)Mode::Number::GUIDED,
(uint8_t)Mode::Number::LOITER,
(uint8_t)Mode::Number::CIRCLE,
(uint8_t)Mode::Number::DRIFT,
(uint8_t)Mode::Number::SPORT,
(uint8_t)Mode::Number::FLIP,
(uint8_t)Mode::Number::AUTOTUNE,
(uint8_t)Mode::Number::POSHOLD,
(uint8_t)Mode::Number::BRAKE,
(uint8_t)Mode::Number::THROW,
(uint8_t)Mode::Number::AVOID_ADSB,
(uint8_t)Mode::Number::GUIDED_NOGPS,
(uint8_t)Mode::Number::SMART_RTL,
(uint8_t)Mode::Number::FLOWHOLD,
(uint8_t)Mode::Number::FOLLOW,
(uint8_t)Mode::Number::ZIGZAG,
(uint8_t)Mode::Number::SYSTEMID,
(uint8_t)Mode::Number::AUTOROTATE,
(uint8_t)Mode::Number::AUTO_RTL,
(uint8_t)Mode::Number::TURTLE
};
if (!block_GCS_mode_change((uint8_t)mode_num, mode_list, ARRAY_SIZE(mode_list))) {
return true;
}
// Mode disabled, try and grab a mode name to give a better warning.
Mode *new_flightmode = mode_from_mode_num(mode_num);
if (new_flightmode != nullptr) {
mode_change_failed(new_flightmode, "GCS entry disabled (FLTMODE_GCSBLOCK)");
} else {
notify_no_such_mode((uint8_t)mode_num);
}
return false;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
@ -218,6 +264,11 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
return true;
}
// Check if GCS mode change is disabled via parameter
if ((reason == ModeReason::GCS_COMMAND) && !gcs_mode_enabled(mode)) {
return false;
}
#if MODE_AUTO_ENABLED == ENABLED
if (mode == Mode::Number::AUTO_RTL) {
// Special case for AUTO RTL, not a true mode, just AUTO in disguise