From ecad165f862eab5c300ecd41b3b969012463564b Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Wed, 25 May 2022 21:23:06 +0900
Subject: [PATCH] Copter: remove Auto mode's rare use of mode() method

---
 ArduCopter/mode.h        | 4 +---
 ArduCopter/mode_auto.cpp | 2 +-
 2 files changed, 2 insertions(+), 4 deletions(-)

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
index 266f9b6e2c..15259b009d 100644
--- a/ArduCopter/mode.h
+++ b/ArduCopter/mode.h
@@ -404,7 +404,7 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override;
     bool is_autopilot() const override { return true; }
-    bool in_guided_mode() const override { return mode() == SubMode::NAVGUIDED || mode() == SubMode::NAV_SCRIPT_TIME; }
+    bool in_guided_mode() const override { return _mode == SubMode::NAVGUIDED || _mode == SubMode::NAV_SCRIPT_TIME; }
 
     // Auto modes
     enum class SubMode : uint8_t {
@@ -422,8 +422,6 @@ public:
         NAV_ATTITUDE_TIME,
     };
 
-    // Auto
-    SubMode mode() const { return _mode; }
 
     // pause continue in auto mode
     bool pause() override;
diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
index a500672543..b6008962c1 100644
--- a/ArduCopter/mode_auto.cpp
+++ b/ArduCopter/mode_auto.cpp
@@ -695,7 +695,7 @@ void ModeAuto::exit_mission()
 bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
 {
     // only process guided waypoint if we are in guided mode
-    if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && mode() == SubMode::NAVGUIDED)) {
+    if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && _mode == SubMode::NAVGUIDED)) {
         return false;
     }