From cb5a122dab3d5d79a0c42228249872936b022de9 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Mon, 12 Jan 2015 20:41:48 +0900
Subject: [PATCH] Mount_Servo: add set_mode

---
 libraries/AP_Mount/AP_Mount_Servo.cpp | 7 +++++++
 libraries/AP_Mount/AP_Mount_Servo.h   | 3 +++
 2 files changed, 10 insertions(+)

diff --git a/libraries/AP_Mount/AP_Mount_Servo.cpp b/libraries/AP_Mount/AP_Mount_Servo.cpp
index 63cb4ccea0..342aaefe96 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.cpp
+++ b/libraries/AP_Mount/AP_Mount_Servo.cpp
@@ -116,6 +116,13 @@ void AP_Mount_Servo::update()
     move_servo(_pan_idx,  _angle_bf_output_deg.z*10, _frontend.state[_instance]._pan_angle_min*0.1f, _frontend.state[_instance]._pan_angle_max*0.1f);
 }
 
+// set_mode - sets mount's mode
+void AP_Mount_Servo::set_mode(enum MAV_MOUNT_MODE mode)
+{
+    // record the mode change and return success
+    _frontend.state[_instance]._mode = mode;
+}
+
 // set_roi_target - sets target location that mount should attempt to point towards
 void AP_Mount_Servo::set_roi_target(const struct Location &target_loc)
 {
diff --git a/libraries/AP_Mount/AP_Mount_Servo.h b/libraries/AP_Mount/AP_Mount_Servo.h
index 36821e3759..0a9b6704aa 100644
--- a/libraries/AP_Mount/AP_Mount_Servo.h
+++ b/libraries/AP_Mount/AP_Mount_Servo.h
@@ -41,6 +41,9 @@ public:
     // has_pan_control - returns true if this mount can control it's pan (required for multicopters)
     virtual bool has_pan_control() const { return _flags.pan_control; }
 
+    // set_mode - sets mount's mode
+    virtual void set_mode(enum MAV_MOUNT_MODE mode);
+
     // set_roi_target - sets target location that mount should attempt to point towards
     virtual void set_roi_target(const struct Location &target_loc);