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Copter: correct checking of heli mode change

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init() may have changed all sorts of things about the
vehicle - wp navigation, position controllers, attitude controllers...

Do the heli check before doing any of that so we don't change state and
then fail to change mode
This commit is contained in:
Peter Barker 2017-12-13 10:02:51 +11:00 committed by Randy Mackay
parent 7504237fbb
commit d09b0696db
1 changed files with 10 additions and 8 deletions
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18
ArduCopter/mode.cpp
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@ -119,20 +119,22 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
bool ignore_checks = !motors->armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform bool ignore_checks = !motors->armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter a non-manual throttle mode if the
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
#endif
if (!new_flightmode->init(ignore_checks)) { if (!new_flightmode->init(ignore_checks)) {
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed"); gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode); Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false; return false;
} }
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter a non-manual throttle mode if the
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
return false;
}
#endif
// perform any cleanup required by previous flight mode // perform any cleanup required by previous flight mode
exit_mode(flightmode, new_flightmode); exit_mode(flightmode, new_flightmode);