Plane: use a method on Mode for auto-navigation-mode

Avoids the state getting stale, which it will with a failed attempt to
go into qautotune, for example.

ArduPlane/Attitude.cpp

@@ -54,7 +54,7 @@ float Plane::get_speed_scaler(void)
  */
 bool Plane::stick_mixing_enabled(void)
 {
-    if (auto_throttle_mode && auto_navigation_mode) {
+    if (auto_throttle_mode && plane.control_mode->does_auto_navigation()) {
         // we're in an auto mode. Check the stick mixing flag
         if (g.stick_mixing != STICK_MIXING_DISABLED &&
             g.stick_mixing != STICK_MIXING_VTOL_YAW &&

ArduPlane/Plane.h

@@ -576,10 +576,6 @@ private:
     // we need to run the speed/height controller
     bool auto_throttle_mode:1;
 
-    // true if we are in an auto-navigation mode, which controls whether control input is ignored
-    // with STICK_MIXING=0
-    bool auto_navigation_mode:1;
-
     // this controls throttle suppression in auto modes
     bool throttle_suppressed;
 	

ArduPlane/mode.cpp

@@ -73,7 +73,7 @@ bool Mode::enter()
         // start with throttle suppressed in auto_throttle modes
         plane.throttle_suppressed = plane.auto_throttle_mode;
 #if HAL_ADSB_ENABLED
-        plane.adsb.set_is_auto_mode(plane.auto_navigation_mode);
+        plane.adsb.set_is_auto_mode(does_auto_navigation());
 #endif
 
         // reset steering integrator on mode change

ArduPlane/mode.h

@@ -87,6 +87,10 @@ public:
     // depending on airspeed_nudge_cm
     virtual bool allows_throttle_nudging() const { return false; }
 
+    // true if the mode sets the vehicle destination, which controls
+    // whether control input is ignored with STICK_MIXING=0
+    virtual bool does_auto_navigation() const { return false; }
+
 protected:
 
     // subclasses override this to perform checks before entering the mode
@@ -128,6 +132,8 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -169,6 +175,8 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -185,6 +193,8 @@ public:
     // methods that affect movement of the vehicle in this mode
     void update() override;
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -206,6 +216,8 @@ public:
     bool isHeadingLinedUp(const Location loiterCenterLoc, const Location targetLoc);
     bool isHeadingLinedUp_cd(const int32_t bearing_cd);
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -244,6 +256,8 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool _enter() override;
@@ -536,6 +550,8 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
+    bool does_auto_navigation() const override { return true; }
+
     // var_info for holding parameter information
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -571,6 +587,8 @@ public:
 
     bool allows_throttle_nudging() const override { return true; }
 
+    bool does_auto_navigation() const override { return true; }
+
 protected:
 
     bool exit_heading_aligned() const;

ArduPlane/mode_acro.cpp

@@ -4,7 +4,6 @@
 bool ModeAcro::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
     plane.acro_state.locked_roll = false;
     plane.acro_state.locked_pitch = false;
 

ArduPlane/mode_auto.cpp

@@ -4,7 +4,6 @@
 bool ModeAuto::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     if (plane.quadplane.available() && plane.quadplane.enable == 2) {
         plane.auto_state.vtol_mode = true;
     } else {

ArduPlane/mode_autotune.cpp

@@ -4,7 +4,6 @@
 bool ModeAutoTune::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
     plane.autotune_start();
 
     return true;

ArduPlane/mode_circle.cpp

@@ -5,7 +5,6 @@ bool ModeCircle::_enter()
 {
     // the altitude to circle at is taken from the current altitude
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     plane.next_WP_loc.alt = plane.current_loc.alt;
 
     return true;

ArduPlane/mode_cruise.cpp

@@ -4,7 +4,6 @@
 bool ModeCruise::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = false;
     locked_heading = false;
     lock_timer_ms = 0;
 

ArduPlane/mode_fbwa.cpp

@@ -4,7 +4,6 @@
 bool ModeFBWA::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
 
     return true;
 }

ArduPlane/mode_fbwb.cpp

@@ -4,7 +4,6 @@
 bool ModeFBWB::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = false;
 
 #if HAL_SOARING_ENABLED
     // for ArduSoar soaring_controller

ArduPlane/mode_guided.cpp

@@ -4,7 +4,6 @@
 bool ModeGuided::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     plane.guided_throttle_passthru = false;
     /*
       when entering guided mode we set the target as the current

ArduPlane/mode_initializing.cpp

@@ -4,7 +4,6 @@
 bool ModeInitializing::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = false;
 
     return true;
 }

ArduPlane/mode_loiter.cpp

@@ -4,7 +4,6 @@
 bool ModeLoiter::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     plane.do_loiter_at_location();
     plane.loiter_angle_reset();
 

ArduPlane/mode_manual.cpp

@@ -4,7 +4,6 @@
 bool ModeManual::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
 
     return true;
 }

ArduPlane/mode_qacro.cpp

@@ -3,7 +3,6 @@
 
 bool ModeQAcro::_enter()
 {
-    plane.auto_navigation_mode = false;
     if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
         plane.control_mode = plane.previous_mode;
     } else {

ArduPlane/mode_qstabilize.cpp

@@ -3,7 +3,6 @@
 
 bool ModeQStabilize::_enter()
 {
-    plane.auto_navigation_mode = false;
     if (!plane.quadplane.init_mode() && plane.previous_mode != nullptr) {
         plane.control_mode = plane.previous_mode;
     } else {

ArduPlane/mode_rtl.cpp

@@ -4,7 +4,6 @@
 bool ModeRTL::_enter()
 {
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     plane.prev_WP_loc = plane.current_loc;
     plane.do_RTL(plane.get_RTL_altitude());
     plane.rtl.done_climb = false;

ArduPlane/mode_stabilize.cpp

@@ -4,7 +4,6 @@
 bool ModeStabilize::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
 
     return true;
 }

ArduPlane/mode_takeoff.cpp

@@ -53,7 +53,6 @@ bool ModeTakeoff::_enter()
 {
     // the altitude to circle at is taken from the current altitude
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
 
     takeoff_started = false;
 

ArduPlane/mode_thermal.cpp

@@ -10,7 +10,6 @@ bool ModeThermal::_enter()
     }
 
     plane.auto_throttle_mode = true;
-    plane.auto_navigation_mode = true;
     plane.do_loiter_at_location();
     plane.loiter_angle_reset();
 

ArduPlane/mode_training.cpp

@@ -4,7 +4,6 @@
 bool ModeTraining::_enter()
 {
     plane.auto_throttle_mode = false;
-    plane.auto_navigation_mode = false;
 
     return true;
 }