From ea62c24cef7de1019231acfce0d96e6c61fdb89b Mon Sep 17 00:00:00 2001
From: Raouf <raoufbadjadja@gmail.com>
Date: Wed, 8 Aug 2018 13:48:38 +0900
Subject: [PATCH] Rover: Move set_reverse method to Mode class

---
 APMrover2/mode.cpp      | 8 ++++++++
 APMrover2/mode.h        | 7 ++++---
 APMrover2/mode_auto.cpp | 8 --------
 3 files changed, 12 insertions(+), 11 deletions(-)

diff --git a/APMrover2/mode.cpp b/APMrover2/mode.cpp
index bba8492f3a..826aee0457 100644
--- a/APMrover2/mode.cpp
+++ b/APMrover2/mode.cpp
@@ -226,6 +226,14 @@ bool Mode::set_desired_speed(float speed)
     return false;
 }
 
+// execute the mission in reverse (i.e. backing up)
+void Mode::set_reversed(bool value)
+{
+    if (_reversed != value) {
+        _reversed = value;
+    }
+}
+
 void Mode::calc_throttle(float target_speed, bool nudge_allowed, bool avoidance_enabled)
 {
     // add in speed nudging
diff --git a/APMrover2/mode.h b/APMrover2/mode.h
index 8df11a9089..4a75166e23 100644
--- a/APMrover2/mode.h
+++ b/APMrover2/mode.h
@@ -112,6 +112,9 @@ public:
     // rtl argument should be true if called from RTL or SmartRTL modes (handled here to avoid duplication)
     void set_desired_speed_to_default(bool rtl = false);
 
+    // execute the mission in reverse (i.e. backing up)
+    void set_reversed(bool value);
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -194,6 +197,7 @@ protected:
     float _desired_speed_final; // desired speed in m/s when we reach the destination
     float _speed_error;         // ground speed error in m/s
     uint32_t last_steer_to_wp_ms;   // system time of last call to calc_steering_to_waypoint
+    bool _reversed;             // execute the mission by backing up
 };
 
 
@@ -247,8 +251,6 @@ public:
     // start RTL (within auto)
     void start_RTL();
 
-    // execute the mission in reverse (i.e. backing up)
-    void set_reversed(bool value);
 
 protected:
 
@@ -272,7 +274,6 @@ private:
     bool auto_triggered;
 
     bool _reached_heading;      // true when vehicle has reached desired heading in TurnToHeading sub mode
-    bool _reversed;             // execute the mission by backing up
 };
 
 
diff --git a/APMrover2/mode_auto.cpp b/APMrover2/mode_auto.cpp
index 88f2b3501b..b8fc1f754b 100644
--- a/APMrover2/mode_auto.cpp
+++ b/APMrover2/mode_auto.cpp
@@ -140,14 +140,6 @@ void ModeAuto::start_RTL()
     }
 }
 
-// execute the mission in reverse (i.e. backing up)
-void ModeAuto::set_reversed(bool value)
-{
-    if (_reversed != value) {
-        _reversed = value;
-    }
-}
-
 /*
     check for triggering of start of auto mode
 */