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Copter: skip mode change checks when disarmed

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Note: there will be a follow up commit to move the checks into a
separate function so they can be called just before arming
This commit is contained in:
Randy Mackay 2013-08-22 13:25:27 +09:00
parent d8eb7fb82f
commit 7159c539e6
1 changed files with 8 additions and 7 deletions
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15
ArduCopter/system.pde
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@ -365,6 +365,7 @@ static bool set_mode(uint8_t mode)
{ {
// boolean to record if flight mode could be set // boolean to record if flight mode could be set
bool success = false; bool success = false;
bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
// report the GPS and Motor arming status // report the GPS and Motor arming status
// To-Do: this should be initialised somewhere else related to the LEDs // To-Do: this should be initialised somewhere else related to the LEDs
@ -407,7 +408,7 @@ static bool set_mode(uint8_t mode)
case AUTO: case AUTO:
// check we have a GPS and at least one mission command (note the home position is always command 0) // check we have a GPS and at least one mission command (note the home position is always command 0)
if (GPS_ok() && g.command_total > 1) { if ((GPS_ok() && g.command_total > 1) || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -417,7 +418,7 @@ static bool set_mode(uint8_t mode)
break; break;
case CIRCLE: case CIRCLE:
if (GPS_ok()) { if (GPS_ok() || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -429,7 +430,7 @@ static bool set_mode(uint8_t mode)
break; break;
case LOITER: case LOITER:
if (GPS_ok()) { if (GPS_ok() || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -441,7 +442,7 @@ static bool set_mode(uint8_t mode)
break; break;
case POSITION: case POSITION:
if (GPS_ok()) { if (GPS_ok() || ignore_checks) {
success = true; success = true;
ap.manual_throttle = true; ap.manual_throttle = true;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -453,7 +454,7 @@ static bool set_mode(uint8_t mode)
break; break;
case GUIDED: case GUIDED:
if (GPS_ok()) { if (GPS_ok() || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -473,7 +474,7 @@ static bool set_mode(uint8_t mode)
break; break;
case RTL: case RTL:
if (GPS_ok()) { if (GPS_ok() || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;
@ -482,7 +483,7 @@ static bool set_mode(uint8_t mode)
break; break;
case OF_LOITER: case OF_LOITER:
if (g.optflow_enabled) { if (g.optflow_enabled || ignore_checks) {
success = true; success = true;
ap.manual_throttle = false; ap.manual_throttle = false;
ap.manual_attitude = false; ap.manual_attitude = false;