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Copter: add prev_control_mode and prev_control_reason

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Jonathan Challinger 2016-01-26 16:08:45 -08:00 committed by Randy Mackay
parent 18240107f0
commit 2a36c32cf3
2 changed files with 10 additions and 0 deletions
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3
ArduCopter/Copter.h
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@ -249,6 +249,9 @@ private:
control_mode_t control_mode;
mode_reason_t control_mode_reason = MODE_REASON_UNKNOWN;
control_mode_t prev_control_mode;
mode_reason_t prev_control_mode_reason = MODE_REASON_UNKNOWN;
// Structure used to detect changes in the flight mode control switch
struct {
int8_t debounced_switch_position; // currently used switch position

7
ArduCopter/flight_mode.cpp
View File

@ -19,6 +19,9 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
@ -109,6 +112,10 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, (control_mode_t)mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = (control_mode_t)mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);