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Add and use new ModeReason::AUX_FUNCTION #27271

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merged 5 commits into from
Jun 17, 2024
Merged

Add and use new ModeReason::AUX_FUNCTION #27271

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e00afc5
AP_Vehicle: add new mode reason AUX_FUNCTION
IamPete1 Jun 7, 2024
adddd6a
ArduCopter: use new ModeReason::AUX_FUNCTION
IamPete1 Jun 7, 2024
6ce1396
ArduPlane: use new ModeReason::AUX_FUNCTION
IamPete1 Jun 7, 2024
a36f552
Blimp: use new ModeReason::AUX_FUNCTION
IamPete1 Jun 7, 2024
6cb5f50
Rover: use new ModeReason::AUX_FUNCTION
IamPete1 Jun 7, 2024
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4 changes: 2 additions & 2 deletions ArduCopter/RC_Channel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -144,7 +144,7 @@ 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)
copter.set_mode(mode, ModeReason::RC_COMMAND);
copter.set_mode(mode, ModeReason::AUX_FUNCTION);
break;
}
default:
Expand All @@ -163,7 +163,7 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
case AUX_FUNC::FLIP:
// flip if switch is on, positive throttle and we're actually flying
if (ch_flag == AuxSwitchPos::HIGH) {
copter.set_mode(Mode::Number::FLIP, ModeReason::RC_COMMAND);
copter.set_mode(Mode::Number::FLIP, ModeReason::AUX_FUNCTION);
}
break;

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2 changes: 1 addition & 1 deletion ArduPlane/RC_Channel.cpp
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Expand Up @@ -43,7 +43,7 @@ void RC_Channel_Plane::do_aux_function_change_mode(const Mode::Number number,
switch(ch_flag) {
case AuxSwitchPos::HIGH: {
// engage mode (if not possible we remain in current flight mode)
plane.set_mode_by_number(number, ModeReason::RC_COMMAND);
plane.set_mode_by_number(number, ModeReason::AUX_FUNCTION);
break;
}
default:
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2 changes: 1 addition & 1 deletion Blimp/RC_Channel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -79,7 +79,7 @@ void RC_Channel_Blimp::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 = blimp.set_mode(mode, ModeReason::RC_COMMAND);
const bool success = blimp.set_mode(mode, ModeReason::AUX_FUNCTION);
if (blimp.ap.initialised) {
if (success) {
AP_Notify::events.user_mode_change = 1;
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2 changes: 1 addition & 1 deletion Rover/RC_Channel.cpp
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Expand Up @@ -86,7 +86,7 @@ void RC_Channel_Rover::do_aux_function_change_mode(Mode &mode,
{
switch (ch_flag) {
case AuxSwitchPos::HIGH:
rover.set_mode(mode, ModeReason::RC_COMMAND);
rover.set_mode(mode, ModeReason::AUX_FUNCTION);
break;
case AuxSwitchPos::MIDDLE:
// do nothing
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1 change: 1 addition & 0 deletions libraries/AP_Vehicle/ModeReason.h
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Original file line number Diff line number Diff line change
Expand Up @@ -70,4 +70,5 @@ enum class ModeReason : uint8_t {
DEADRECKON_FAILSAFE = 50,
MODE_TAKEOFF_FAILSAFE = 51,
DDS_COMMAND = 52,
AUX_FUNCTION = 53,
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};
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