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Copter: fix compilation when drift mode is disabled

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This commit is contained in:
Peter Barker 2019-08-21 13:24:21 +10:00 committed by Andrew Tridgell
parent c5333c2765
commit 0ce3cd06b0
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/mode.cpp
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@ -204,9 +204,15 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
// into a manual throttle mode from a non-manual-throttle mode // into a manual throttle mode from a non-manual-throttle mode
// (e.g. user arms in guided, raises throttle to 1300 (not enough to // (e.g. user arms in guided, raises throttle to 1300 (not enough to
// trigger auto takeoff), then switches into manual): // trigger auto takeoff), then switches into manual):
bool user_throttle = new_flightmode->has_manual_throttle();
#if MODE_DRIFT_ENABLED == ENABLED
if (new_flightmode == &mode_drift) {
user_throttle = true;
}
#endif
if (!ignore_checks && if (!ignore_checks &&
ap.land_complete && ap.land_complete &&
(new_flightmode->has_manual_throttle() || new_flightmode == &mode_drift) && user_throttle &&
!copter.flightmode->has_manual_throttle() && !copter.flightmode->has_manual_throttle() &&
new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) { new_flightmode->get_pilot_desired_throttle() > copter.get_non_takeoff_throttle()) {
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: throttle too high"); gcs().send_text(MAV_SEVERITY_WARNING, "Mode change failed: throttle too high");