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Copter: Add 'Unknown' to the flight mode

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This commit is contained in:
muramura 2024-09-28 12:32:38 +09:00
parent 637aec0085
commit 926a76c2b4
3 changed files with 17 additions and 8 deletions
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12
ArduCopter/config.h
View File

@ -281,22 +281,22 @@
//
#ifndef FLIGHT_MODE_1
# define FLIGHT_MODE_1 Mode::Number::STABILIZE
# define FLIGHT_MODE_1 Mode::Number::UNKNOWN
#endif
#ifndef FLIGHT_MODE_2
# define FLIGHT_MODE_2 Mode::Number::STABILIZE
# define FLIGHT_MODE_2 Mode::Number::UNKNOWN
#endif
#ifndef FLIGHT_MODE_3
# define FLIGHT_MODE_3 Mode::Number::STABILIZE
# define FLIGHT_MODE_3 Mode::Number::UNKNOWN
#endif
#ifndef FLIGHT_MODE_4
# define FLIGHT_MODE_4 Mode::Number::STABILIZE
# define FLIGHT_MODE_4 Mode::Number::UNKNOWN
#endif
#ifndef FLIGHT_MODE_5
# define FLIGHT_MODE_5 Mode::Number::STABILIZE
# define FLIGHT_MODE_5 Mode::Number::UNKNOWN
#endif
#ifndef FLIGHT_MODE_6
# define FLIGHT_MODE_6 Mode::Number::STABILIZE
# define FLIGHT_MODE_6 Mode::Number::UNKNOWN
#endif

12
ArduCopter/mode.cpp
View File

@ -179,6 +179,10 @@ Mode *Copter::mode_from_mode_num(const Mode::Number mode)
break;
#endif
case Mode::Number::UNKNOWN:
// Do not set the flight mode
break;
default:
break;
}
@ -238,7 +242,9 @@ bool Copter::gcs_mode_enabled(const Mode::Number mode_num)
if (new_flightmode != nullptr) {
mode_change_failed(new_flightmode, "GCS entry disabled (FLTMODE_GCSBLOCK)");
} else {
notify_no_such_mode((uint8_t)mode_num);
if (mode_num != Mode::Number::UNKNOWN) {
notify_no_such_mode((uint8_t)mode_num);
}
}
return false;
@ -283,7 +289,9 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) {
notify_no_such_mode((uint8_t)mode);
if (mode != Mode::Number::UNKNOWN) {
notify_no_such_mode((uint8_t)mode);
}
return false;
}

1
ArduCopter/mode.h
View File

@ -100,6 +100,7 @@ public:
AUTOROTATE = 26, // Autonomous autorotation
AUTO_RTL = 27, // Auto RTL, this is not a true mode, AUTO will report as this mode if entered to perform a DO_LAND_START Landing sequence
TURTLE = 28, // Flip over after crash
UNKNOWN = 255, // unknown
// Mode number 127 reserved for the "drone show mode" in the Skybrush
// fork at https://github.com/skybrush-io/ardupilot