Copter: add exit() method to Mode class

ArduCopter/mode.cpp

@@ -328,24 +328,6 @@ void Copter::update_flight_mode()
 void Copter::exit_mode(Mode *&old_flightmode,
                        Mode *&new_flightmode)
 {
-#if AUTOTUNE_ENABLED == ENABLED
-    if (old_flightmode == &mode_autotune) {
-        mode_autotune.stop();
-    }
-#endif
-
-    // stop mission when we leave auto mode
-#if MODE_AUTO_ENABLED == ENABLED
-    if (old_flightmode == &mode_auto) {
-        if (mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
-            mode_auto.mission.stop();
-        }
-#if HAL_MOUNT_ENABLED
-        camera_mount.set_mode_to_default();
-#endif  // HAL_MOUNT_ENABLED
-    }
-#endif
-
     // smooth throttle transition when switching from manual to automatic flight modes
     if (old_flightmode->has_manual_throttle() && !new_flightmode->has_manual_throttle() && motors->armed() && !ap.land_complete) {
         // this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
@@ -355,30 +337,8 @@ void Copter::exit_mode(Mode *&old_flightmode,
     // cancel any takeoffs in progress
     old_flightmode->takeoff_stop();
 
-#if MODE_SMARTRTL_ENABLED == ENABLED
+    // perform cleanup required for each flight mode
-    // call smart_rtl cleanup
+    old_flightmode->exit();
-    if (old_flightmode == &mode_smartrtl) {
-        mode_smartrtl.exit();
-    }
-#endif
-
-#if MODE_FOLLOW_ENABLED == ENABLED
-    if (old_flightmode == &mode_follow) {
-        mode_follow.exit();
-    }
-#endif
-
-#if MODE_ZIGZAG_ENABLED == ENABLED
-    if (old_flightmode == &mode_zigzag) {
-        mode_zigzag.exit();
-    }
-#endif
-
-#if MODE_ACRO_ENABLED == ENABLED
-    if (old_flightmode == &mode_acro) {
-        mode_acro.exit();
-    }
-#endif
 
 #if FRAME_CONFIG == HELI_FRAME
     // firmly reset the flybar passthrough to false when exiting acro mode.

ArduCopter/mode.h

@@ -52,6 +52,7 @@ public:
     virtual bool init(bool ignore_checks) {
         return true;
     }
+    virtual void exit() {};
     virtual void run() = 0;
     virtual bool requires_GPS() const = 0;
     virtual bool has_manual_throttle() const = 0;
@@ -275,7 +276,7 @@ public:
     bool allows_arming(AP_Arming::Method method) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool init(bool ignore_checks) override;
-    void exit();
+    void exit() override;
     // whether an air-mode aux switch has been toggled
     void air_mode_aux_changed();
     bool allows_save_trim() const override { return true; }
@@ -350,6 +351,7 @@ public:
     Number mode_number() const override { return Number::AUTO; }
 
     bool init(bool ignore_checks) override;
+    void exit() override;
     void run() override;
 
     bool requires_GPS() const override { return true; }
@@ -567,6 +569,7 @@ public:
     Number mode_number() const override { return Number::AUTOTUNE; }
 
     bool init(bool ignore_checks) override;
+    void exit() override;
     void run() override;
 
     bool requires_GPS() const override { return false; }
@@ -575,7 +578,6 @@ public:
     bool is_autopilot() const override { return false; }
 
     void save_tuning_gains();
-    void stop();
     void reset();
 
 protected:
@@ -1217,7 +1219,7 @@ public:
     bool is_autopilot() const override { return true; }
 
     void save_position();
-    void exit();
+    void exit() override;
 
     bool is_landing() const override;
 
@@ -1478,7 +1480,7 @@ public:
     Number mode_number() const override { return Number::FOLLOW; }
 
     bool init(bool ignore_checks) override;
-    void exit();
+    void exit() override;
     void run() override;
 
     bool requires_GPS() const override { return true; }
@@ -1521,7 +1523,7 @@ public:
     } zigzag_direction;
 
     bool init(bool ignore_checks) override;
-    void exit();
+    void exit() override;
     void run() override;
 
     // auto control methods.  copter flies grid pattern

ArduCopter/mode_auto.cpp

@@ -55,6 +55,17 @@ bool ModeAuto::init(bool ignore_checks)
     }
 }
 
+// stop mission when we leave auto mode
+void ModeAuto::exit()
+{
+    if (copter.mode_auto.mission.state() == AP_Mission::MISSION_RUNNING) {
+        copter.mode_auto.mission.stop();
+    }
+#if HAL_MOUNT_ENABLED
+    copter.camera_mount.set_mode_to_default();
+#endif  // HAL_MOUNT_ENABLED
+}
+
 // auto_run - runs the auto controller
 //      should be called at 100hz or more
 void ModeAuto::run()

ArduCopter/mode_autotune.cpp

@@ -139,7 +139,7 @@ void ModeAutoTune::save_tuning_gains()
     autotune.save_tuning_gains();
 }
 
-void ModeAutoTune::stop()
+void ModeAutoTune::exit()
 {
     autotune.stop();
 }