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Copter: remove Auto mode's rare use of mode() method

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This commit is contained in:
Randy Mackay 2022-05-25 21:23:06 +09:00
parent b5c58d5c13
commit ecad165f86
2 changed files with 2 additions and 4 deletions
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4
ArduCopter/mode.h
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@ -404,7 +404,7 @@ public:
bool has_manual_throttle() const override { return false; } bool has_manual_throttle() const override { return false; }
bool allows_arming(AP_Arming::Method method) const override; bool allows_arming(AP_Arming::Method method) const override;
bool is_autopilot() const override { return true; } bool is_autopilot() const override { return true; }
bool in_guided_mode() const override { return mode() == SubMode::NAVGUIDED || mode() == SubMode::NAV_SCRIPT_TIME; } bool in_guided_mode() const override { return _mode == SubMode::NAVGUIDED || _mode == SubMode::NAV_SCRIPT_TIME; }
// Auto modes // Auto modes
enum class SubMode : uint8_t { enum class SubMode : uint8_t {
@ -422,8 +422,6 @@ public:
NAV_ATTITUDE_TIME, NAV_ATTITUDE_TIME,
}; };
// Auto
SubMode mode() const { return _mode; }
// pause continue in auto mode // pause continue in auto mode
bool pause() override; bool pause() override;

2
ArduCopter/mode_auto.cpp
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@ -695,7 +695,7 @@ void ModeAuto::exit_mission()
bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd) bool ModeAuto::do_guided(const AP_Mission::Mission_Command& cmd)
{ {
// only process guided waypoint if we are in guided mode // only process guided waypoint if we are in guided mode
if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && mode() == SubMode::NAVGUIDED)) { if (copter.flightmode->mode_number() != Mode::Number::GUIDED && !(copter.flightmode->mode_number() == Mode::Number::AUTO && _mode == SubMode::NAVGUIDED)) {
return false; return false;
} }