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Copter: don't report initial mode switch as failsafe mode change

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This commit is contained in:
Pierre Kancir 2020-12-31 09:41:00 +01:00 committed by Randy Mackay
parent 186c28c275
commit f53892a1fa
1 changed files with 2 additions and 4 deletions
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6
ArduCopter/system.cpp
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@ -216,13 +216,11 @@ void Copter::init_ardupilot()
enable_motor_output(); enable_motor_output();
} }
// attempt to switch to RTL, if this fails then switch to Land // attempt to set the intial_mode, else set to STABILIZE
if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) { if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) {
// set mode to STABILIZE will trigger mode change notification to pilot // set mode to STABILIZE will trigger mode change notification to pilot
set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE); set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);
} else { AP_Notify::events.user_mode_change_failed = 1;
// alert pilot to mode change
AP_Notify::events.failsafe_mode_change = 1;
} }
// flag that initialisation has completed // flag that initialisation has completed