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Plane: update ModeReasons to not use UNKNOWN reason

This commit is contained in:
Tom Pittenger 2020-07-24 10:52:07 -07:00 committed by Tom Pittenger
parent 88d28460f5
commit c7c9461fc0
3 changed files with 6 additions and 6 deletions
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6
ArduPlane/ArduPlane.cpp
View File

@ -463,7 +463,7 @@ void Plane::update_navigation()
are within the maximum of the stopping distance and the
RTL_RADIUS
*/
set_mode(mode_qrtl, ModeReason::UNKNOWN);
set_mode(mode_qrtl, ModeReason::RTL_COMPLETE_SWITCHING_TO_VTOL_LAND_RTL);
break;
} else if (g.rtl_autoland == 1 &&
!auto_state.checked_for_autoland &&
@ -473,7 +473,7 @@ void Plane::update_navigation()
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
mission.set_force_resume(true);
set_mode(mode_auto, ModeReason::UNKNOWN);
set_mode(mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
}
// prevent running the expensive jump_to_landing_sequence
@ -486,7 +486,7 @@ void Plane::update_navigation()
if (mission.jump_to_landing_sequence()) {
// switch from RTL -> AUTO
mission.set_force_resume(true);
set_mode(mode_auto, ModeReason::UNKNOWN);
set_mode(mode_auto, ModeReason::RTL_COMPLETE_SWITCHING_TO_FIXEDWING_AUTOLAND);
}
// prevent running the expensive jump_to_landing_sequence

2
ArduPlane/commands_logic.cpp
View File

@ -72,7 +72,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
break;
case MAV_CMD_NAV_RETURN_TO_LAUNCH:
set_mode(mode_rtl, ModeReason::UNKNOWN);
set_mode(mode_rtl, ModeReason::MISSION_CMD);
break;
case MAV_CMD_NAV_CONTINUE_AND_CHANGE_ALT:

4
ArduPlane/system.cpp
View File

@ -142,7 +142,7 @@ void Plane::init_ardupilot()
// choose the nav controller
set_nav_controller();
set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::UNKNOWN);
set_mode_by_number((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED);
// set the correct flight mode
// ---------------------------
@ -169,7 +169,7 @@ void Plane::init_ardupilot()
//********************************************************************************
void Plane::startup_ground(void)
{
set_mode(mode_initializing, ModeReason::UNKNOWN);
set_mode(mode_initializing, ModeReason::INITIALISED);
#if (GROUND_START_DELAY > 0)
gcs().send_text(MAV_SEVERITY_NOTICE,"Ground start with delay");