Tracker: Support new AP_Vehicle::set_mode

AntennaTracker/GCS_Mavlink.cpp

@@ -406,7 +406,7 @@ MAV_RESULT GCS_MAVLINK_Tracker::handle_command_long_packet(const mavlink_command
 
         // mavproxy/mavutil sends this when auto command is entered 
     case MAV_CMD_MISSION_START:
-        tracker.set_mode(AUTO, MODE_REASON_GCS_COMMAND);
+        tracker.set_mode(AUTO, ModeReason::GCS_COMMAND);
         return MAV_RESULT_ACCEPTED;
 
     default:
@@ -607,23 +607,6 @@ void Tracker::mavlink_delay_cb()
     logger.EnableWrites(true);
 }
 
-/*
-  set_mode() wrapper for MAVLink SET_MODE
- */
-bool GCS_MAVLINK_Tracker::set_mode(uint8_t mode)
-{
-    switch (mode) {
-    case AUTO:
-    case MANUAL:
-    case SCAN:
-    case SERVO_TEST:
-    case STOP:
-        tracker.set_mode((enum ControlMode)mode, MODE_REASON_GCS_COMMAND);
-        return true;
-    }
-    return false;
-}
-
 // send position tracker is using
 void GCS_MAVLINK_Tracker::send_global_position_int()
 {

AntennaTracker/GCS_Mavlink.h

@@ -18,8 +18,6 @@ protected:
 
     uint8_t sysid_my_gcs() const override;
 
-    bool set_mode(uint8_t mode) override;
-
     MAV_RESULT _handle_command_preflight_calibration_baro() override;
     MAV_RESULT handle_command_long_packet(const mavlink_command_long_t &packet) override;
 

AntennaTracker/Log.cpp

@@ -78,7 +78,7 @@ const struct LogStructure Tracker::log_structure[] = {
 
 void Tracker::Log_Write_Vehicle_Startup_Messages()
 {
-    logger.Write_Mode(control_mode, MODE_REASON_INITIALISED);
+    logger.Write_Mode(control_mode, ModeReason::INITIALISED);
     gps.Write_AP_Logger_Log_Startup_messages();
 }
 

AntennaTracker/Tracker.h

@@ -246,7 +246,8 @@ private:
     void arm_servos();
     void disarm_servos();
     void prepare_servos();
-    void set_mode(enum ControlMode mode, mode_reason_t reason);
+    void set_mode(enum ControlMode mode, ModeReason reason);
+    bool set_mode(const uint8_t new_mode, const ModeReason reason) override;
     bool should_log(uint32_t mask);
     bool start_command_callback(const AP_Mission::Mission_Command& cmd) { return false; }
     void exit_mission_callback() { return; }

AntennaTracker/control_servo_test.cpp

@@ -20,7 +20,7 @@ bool Tracker::servo_test_set_servo(uint8_t servo_num, uint16_t pwm)
 
     // ensure we are in servo test mode
     if (control_mode != SERVO_TEST) {
-        set_mode(SERVO_TEST, MODE_REASON_SERVOTEST);
+        set_mode(SERVO_TEST, ModeReason::SERVOTEST);
     }
 
     // set yaw servo pwm and send output to servo

AntennaTracker/defines.h

@@ -24,13 +24,6 @@ enum AltSource {
 	ALT_SOURCE_GPS_VEH_ONLY=2
 };
 
-enum mode_reason_t {
-    MODE_REASON_INITIALISED = 0,
-    MODE_REASON_STARTUP,
-    MODE_REASON_SERVOTEST,
-    MODE_REASON_GCS_COMMAND,
-};
-
 enum class PWMDisarmed {
     ZERO = 0,
     TRIM,

AntennaTracker/system.cpp

@@ -110,20 +110,20 @@ void Tracker::init_tracker()
 
     switch (g.initial_mode) {
     case MANUAL:
-        set_mode(MANUAL, MODE_REASON_STARTUP);
+        set_mode(MANUAL, ModeReason::STARTUP);
         break;
 
     case SCAN:
-        set_mode(SCAN, MODE_REASON_STARTUP);
+        set_mode(SCAN, ModeReason::STARTUP);
         break;
 
     case STOP:
-        set_mode(STOP, MODE_REASON_STARTUP);
+        set_mode(STOP, ModeReason::STARTUP);
         break;
 
     case AUTO:
     default:
-        set_mode(AUTO, MODE_REASON_STARTUP);
+        set_mode(AUTO, ModeReason::STARTUP);
         break;
     }
 
@@ -214,7 +214,7 @@ void Tracker::prepare_servos()
     SRV_Channels::output_ch_all();
 }
 
-void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
+void Tracker::set_mode(enum ControlMode mode, ModeReason reason)
 {
     if (control_mode == mode) {
         // don't switch modes if we are already in the correct mode.
@@ -243,6 +243,20 @@ void Tracker::set_mode(enum ControlMode mode, mode_reason_t reason)
     nav_status.bearing = ahrs.yaw_sensor * 0.01f;
 }
 
+bool Tracker::set_mode(const uint8_t new_mode, const ModeReason reason)
+{
+    switch (new_mode) {
+    case AUTO:
+    case MANUAL:
+    case SCAN:
+    case SERVO_TEST:
+    case STOP:
+        set_mode((enum ControlMode)new_mode, reason);
+        return true;
+    }
+    return false;
+}
+
 /*
   should we log a message type now?
  */