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Copter: notify buzzer on every flight mode change

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Iampete1 2021-08-04 01:30:10 +01:00 committed by Peter Barker
parent ca35d01baa
commit 9f5591be02
4 changed files with 18 additions and 19 deletions
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1
ArduCopter/Copter.h
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@ -804,6 +804,7 @@ private:
// mode.cpp
bool set_mode(Mode::Number mode, ModeReason reason);
bool set_mode(const uint8_t new_mode, const ModeReason reason) override;
ModeReason _last_reason;
// called when an attempt to change into a mode is unsuccessful:
void mode_change_failed(const Mode *mode, const char *reason);
uint8_t get_mode() const override { return (uint8_t)flightmode->mode_number(); }

19
ArduCopter/RC_Channel.cpp
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@ -22,19 +22,9 @@ void RC_Channel_Copter::mode_switch_changed(modeswitch_pos_t new_pos)
}
if (!copter.set_mode((Mode::Number)copter.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
// alert user to mode change failure
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
return;
}
// play a tone
// alert user to mode change (except if autopilot is just starting up)
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
if (!rc().find_channel_for_option(AUX_FUNC::SIMPLE_MODE) &&
!rc().find_channel_for_option(AUX_FUNC::SUPERSIMPLE_MODE)) {
// if none of the Aux Switches are set to Simple or Super Simple Mode then
@ -131,14 +121,7 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
switch(ch_flag) {
case AuxSwitchPos::HIGH: {
// engage mode (if not possible we remain in current flight mode)
const bool success = copter.set_mode(mode, ModeReason::RC_COMMAND);
if (copter.ap.initialised) {
if (success) {
AP_Notify::events.user_mode_change = 1;
} else {
AP_Notify::events.user_mode_change_failed = 1;
}
}
copter.set_mode(mode, ModeReason::RC_COMMAND);
break;
}
default:

16
ArduCopter/mode.cpp
View File

@ -182,6 +182,10 @@ void Copter::mode_change_failed(const Mode *mode, const char *reason)
{
gcs().send_text(MAV_SEVERITY_WARNING, "Mode change to %s failed: %s", mode->name(), reason);
AP::logger().Write_Error(LogErrorSubsystem::FLIGHT_MODE, LogErrorCode(mode->mode_number()));
// make sad noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change_failed = 1;
}
}
// set_mode - change flight mode and perform any necessary initialisation
@ -190,10 +194,17 @@ void Copter::mode_change_failed(const Mode *mode, const char *reason)
// ACRO, STABILIZE, ALTHOLD, LAND, DRIFT and SPORT can always be set successfully but the return state of other flight modes should be checked and the caller should deal with failures appropriately
bool Copter::set_mode(Mode::Number mode, ModeReason reason)
{
// update last reason
const ModeReason last_reason = _last_reason;
_last_reason = reason;
// return immediately if we are already in the desired mode
if (mode == flightmode->mode_number()) {
control_mode_reason = reason;
// make happy noise
if (copter.ap.initialised && (reason != last_reason)) {
AP_Notify::events.user_mode_change = 1;
}
return true;
}
@ -306,6 +317,11 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
// update notify object
notify_flight_mode();
// make happy noise
if (copter.ap.initialised) {
AP_Notify::events.user_mode_change = 1;
}
// return success
return true;
}

1
ArduCopter/system.cpp
View File

@ -199,7 +199,6 @@ void Copter::init_ardupilot()
if (!set_mode((enum Mode::Number)g.initial_mode.get(), ModeReason::INITIALISED)) {
// set mode to STABILIZE will trigger mode change notification to pilot
set_mode(Mode::Number::STABILIZE, ModeReason::UNAVAILABLE);
AP_Notify::events.user_mode_change_failed = 1;
}
// flag that initialisation has completed