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ArduCopter: AP_Arming ensures mission items present when in auto mode 

Co-authored-by: Henry Wurzburg <hwurzburg@yahoo.com>
This commit is contained in:
Peter Barker 2023-04-12 15:23:25 +10:00 committed by Peter Barker
parent 50dbf4219b
commit 96fa96936b
2 changed files with 9 additions and 0 deletions
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8
ArduCopter/Copter.cpp
View File

@ -446,6 +446,14 @@ bool Copter::has_ekf_failsafed() const
#endif // AP_SCRIPTING_ENABLED #endif // AP_SCRIPTING_ENABLED
bool Copter::current_mode_requires_mission() const
{
#if MODE_AUTO_ENABLED == ENABLED
return flightmode == &mode_auto;
#else
return false;
#endif
}
// rc_loops - reads user input from transmitter/receiver // rc_loops - reads user input from transmitter/receiver
// called at 100hz // called at 100hz

1
ArduCopter/Copter.h
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@ -851,6 +851,7 @@ private:
// called when an attempt to change into a mode is unsuccessful: // called when an attempt to change into a mode is unsuccessful:
void mode_change_failed(const Mode *mode, const char *reason); void mode_change_failed(const Mode *mode, const char *reason);
uint8_t get_mode() const override { return (uint8_t)flightmode->mode_number(); } uint8_t get_mode() const override { return (uint8_t)flightmode->mode_number(); }
bool current_mode_requires_mission() const override;
void update_flight_mode(); void update_flight_mode();
void notify_flight_mode(); void notify_flight_mode();