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Copter: Do not switch into a disabled flight mode

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Dr.-Ing. Amilcar do Carmo Lucas 2018-03-19 15:02:14 +01:00 committed by Francisco Ferreira
parent 489551c9a4
commit 8e143aa637
1 changed files with 24 additions and 14 deletions
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38
ArduCopter/switches.cpp
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@ -232,6 +232,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
case AUXSW_RTL:
#if MODE_RTL_ENABLED == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
// engage RTL (if not possible we remain in current flight mode)
set_mode(RTL, MODE_REASON_TX_COMMAND);
@ -241,6 +242,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
reset_control_switch();
}
}
#endif
break;
case AUXSW_SAVE_TRIM:
@ -249,8 +251,8 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
}
break;
#if MODE_AUTO_ENABLED == ENABLED
case AUXSW_SAVE_WP:
#if MODE_AUTO_ENABLED == ENABLED
// save waypoint when switch is brought high
if (ch_flag == AUX_SWITCH_HIGH) {
@ -302,14 +304,29 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
Log_Write_Event(DATA_SAVEWP_ADD_WP);
}
}
#endif
break;
case AUXSW_MISSION_RESET:
#if MODE_AUTO_ENABLED == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
mission.reset();
}
break;
#endif
break;
case AUXSW_AUTO:
#if MODE_AUTO_ENABLED == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO, MODE_REASON_TX_COMMAND);
} else {
// return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) {
reset_control_switch();
}
}
#endif
break;
case AUXSW_CAMERA_TRIGGER:
#if CAMERA == ENABLED
@ -385,17 +402,6 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
#endif
break;
case AUXSW_AUTO:
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(AUTO, MODE_REASON_TX_COMMAND);
} else {
// return to flight mode switch's flight mode if we are currently in AUTO
if (control_mode == AUTO) {
reset_control_switch();
}
}
break;
case AUXSW_AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED
// turn on auto tuner
@ -534,6 +540,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
case AUXSW_BRAKE:
#if MODE_BRAKE_ENABLED == ENABLED
// brake flight mode
if (ch_flag == AUX_SWITCH_HIGH) {
set_mode(BRAKE, MODE_REASON_TX_COMMAND);
@ -543,6 +550,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
reset_control_switch();
}
}
#endif
break;
case AUXSW_THROW:
@ -612,6 +620,7 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
break;
case AUXSW_SMART_RTL:
#if MODE_SMARTRTL_ENABLED == ENABLED
if (ch_flag == AUX_SWITCH_HIGH) {
// engage SmartRTL (if not possible we remain in current flight mode)
set_mode(SMART_RTL, MODE_REASON_TX_COMMAND);
@ -621,8 +630,9 @@ void Copter::do_aux_switch_function(int8_t ch_function, uint8_t ch_flag)
reset_control_switch();
}
}
#endif
break;
case AUXSW_INVERTED:
#if FRAME_CONFIG == HELI_FRAME
switch (ch_flag) {