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Copter: add a Mode method to disable crash check

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prevents looking for specific modes in the crash checker
This commit is contained in:
Peter Barker 2024-07-25 15:05:02 +10:00 committed by Randy Mackay
parent 9397ece55a
commit 6881f42cba
2 changed files with 5 additions and 2 deletions
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4
ArduCopter/crash_check.cpp
View File

@ -42,7 +42,7 @@ void Copter::crash_check()
} }
// return immediately if we are not in an angle stabilize flight mode or we are flipping // return immediately if we are not in an angle stabilize flight mode or we are flipping
if (flightmode->mode_number() == Mode::Number::ACRO || flightmode->mode_number() == Mode::Number::FLIP) { if (flightmode->disable_crash_check()) {
crash_counter = 0; crash_counter = 0;
return; return;
} }
@ -273,7 +273,7 @@ void Copter::parachute_check()
} }
// return immediately if we are not in an angle stabilize flight mode or we are flipping // return immediately if we are not in an angle stabilize flight mode or we are flipping
if (flightmode->mode_number() == Mode::Number::ACRO || flightmode->mode_number() == Mode::Number::FLIP) { if (flightmode->disable_crash_check()) {
control_loss_count = 0; control_loss_count = 0;
return; return;
} }

3
ArduCopter/mode.h
View File

@ -128,6 +128,7 @@ public:
virtual bool allows_save_trim() const { return false; } virtual bool allows_save_trim() const { return false; }
virtual bool allows_autotune() const { return false; } virtual bool allows_autotune() const { return false; }
virtual bool allows_flip() const { return false; } virtual bool allows_flip() const { return false; }
virtual bool disable_crash_check() const { return false; }
#if FRAME_CONFIG == HELI_FRAME #if FRAME_CONFIG == HELI_FRAME
virtual bool allows_inverted() const { return false; }; virtual bool allows_inverted() const { return false; };
@ -420,6 +421,7 @@ public:
void air_mode_aux_changed(); void air_mode_aux_changed();
bool allows_save_trim() const override { return true; } bool allows_save_trim() const override { return true; }
bool allows_flip() const override { return true; } bool allows_flip() const override { return true; }
bool disable_crash_check() const override { return true; }
protected: protected:
@ -911,6 +913,7 @@ public:
bool has_manual_throttle() const override { return false; } bool has_manual_throttle() const override { return false; }
bool allows_arming(AP_Arming::Method method) const override { return false; }; bool allows_arming(AP_Arming::Method method) const override { return false; };
bool is_autopilot() const override { return false; } bool is_autopilot() const override { return false; }
bool disable_crash_check() const override { return true; }
protected: protected: