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Copter: add option to disable GUIDED_NOGPS flight mode

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Peter Barker 2018-02-23 18:54:34 +11:00 committed by Randy Mackay
parent 86b162e32f
commit e4898e1d60
4 changed files with 11 additions and 0 deletions
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1
ArduCopter/APM_Config.h
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@ -27,6 +27,7 @@
//#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support //#define MODE_BRAKE_ENABLED DISABLED // disable brake mode support
//#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support //#define MODE_DRIFT_ENABLED DISABLED // disable drift mode support
//#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support //#define MODE_GUIDED_ENABLED DISABLED // disable guided mode support
//#define MODE_GUIDED_NOGPS_ENABLED DISABLED // disable guided/nogps mode support
//#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support //#define MODE_LOITER_ENABLED DISABLED // disable loiter mode support
//#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support //#define MODE_POSHOLD_ENABLED DISABLED // disable poshold mode support
//#define MODE_RTL_ENABLED DISABLED // disable rtl mode support //#define MODE_RTL_ENABLED DISABLED // disable rtl mode support

2
ArduCopter/Copter.h
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@ -995,7 +995,9 @@ private:
ModeAvoidADSB mode_avoid_adsb; ModeAvoidADSB mode_avoid_adsb;
#endif #endif
ModeThrow mode_throw; ModeThrow mode_throw;
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
ModeGuidedNoGPS mode_guided_nogps; ModeGuidedNoGPS mode_guided_nogps;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED #if MODE_SMARTRTL_ENABLED == ENABLED
ModeSmartRTL mode_smartrtl; ModeSmartRTL mode_smartrtl;
#endif #endif

6
ArduCopter/config.h
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@ -291,6 +291,12 @@
# define MODE_GUIDED_ENABLED ENABLED # define MODE_GUIDED_ENABLED ENABLED
#endif #endif
//////////////////////////////////////////////////////////////////////////////
// GuidedNoGPS mode - control vehicle's angles from GCS
#ifndef MODE_GUIDED_NOGPS_ENABLED
# define MODE_GUIDED_NOGPS_ENABLED ENABLED
#endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// Loiter mode - allows vehicle to hold global position // Loiter mode - allows vehicle to hold global position
#ifndef MODE_LOITER_ENABLED #ifndef MODE_LOITER_ENABLED

2
ArduCopter/mode.cpp
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@ -126,9 +126,11 @@ Copter::Mode *Copter::mode_from_mode_num(const uint8_t mode)
break; break;
#endif #endif
#if MODE_GUIDED_NOGPS_ENABLED == ENABLED
case GUIDED_NOGPS: case GUIDED_NOGPS:
ret = &mode_guided_nogps; ret = &mode_guided_nogps;
break; break;
#endif
#if MODE_SMARTRTL_ENABLED == ENABLED #if MODE_SMARTRTL_ENABLED == ENABLED
case SMART_RTL: case SMART_RTL: