// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// 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(control_mode_t mode, mode_reason_t reason)
{
// return immediately if we are already in the desired mode
if (mode == control_mode) {
control_mode_reason = reason;
return true;
}
Copter::Mode *new_flightmode = mode_from_mode_num(mode);
if (new_flightmode == nullptr) {
gcs().send_text(MAV_SEVERITY_WARNING,"No such mode");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
bool ignore_checks = !motors->armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
#if FRAME_CONFIG == HELI_FRAME
// do not allow helis to enter a non-manual throttle mode if the
// rotor runup is not complete
if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
#endif
if (!new_flightmode->init(ignore_checks)) {
gcs().send_text(MAV_SEVERITY_WARNING,"Flight mode change failed");
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
return false;
}
// perform any cleanup required by previous flight mode
exit_mode(flightmode, new_flightmode);
// update flight mode
flightmode = new_flightmode;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, reason);
#if ADSB_ENABLED == ENABLED
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
#endif
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
#if FRSKY_TELEM_ENABLED == ENABLED
frsky_telemetry.update_control_mode(control_mode);
#endif
#if DEVO_TELEM_ENABLED == ENABLED
devo_telemetry.update_control_mode(control_mode);
#endif
#if CAMERA == ENABLED
camera.set_is_auto_mode(control_mode == AUTO);
#endif
// update notify object
notify_flight_mode();
// return success
return true;
}
// set_mode - change flight mode and perform any necessary initialisation
// optional force parameter used to force the flight mode change (used only first time mode is set)
// returns true if mode was successfully set
// 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(control_mode_t mode, mode_reason_t reason)
{
// boolean to record if flight mode could be set
bool success = false;
bool ignore_checks = !motors.armed(); // allow switching to any mode if disarmed. We rely on the arming check to perform
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
switch(mode) {
case ACRO:
#if FRAME_CONFIG == HELI_FRAME
success = heli_acro_init(ignore_checks);
#else
success = acro_init(ignore_checks);
#endif
break;
case STABILIZE:
#if FRAME_CONFIG == HELI_FRAME
success = heli_stabilize_init(ignore_checks);
#else
success = stabilize_init(ignore_checks);
#endif
break;
case ALT_HOLD:
success = althold_init(ignore_checks);
break;
case AUTO:
success = auto_init(ignore_checks);
break;
case CIRCLE:
success = circle_init(ignore_checks);
break;
case LOITER:
success = loiter_init(ignore_checks);
break;
case GUIDED:
success = guided_init(ignore_checks);
break;
case LAND:
success = land_init(ignore_checks);
break;
case RTL:
success = rtl_init(ignore_checks);
break;
case DRIFT:
success = drift_init(ignore_checks);
break;
case SPORT:
success = sport_init(ignore_checks);
break;
case ALT_POS:
success = altpos_init(ignore_checks);
break;
case FLIP:
success = flip_init(ignore_checks);
break;
#if AUTOTUNE_ENABLED == ENABLED
case AUTOTUNE:
success = autotune_init(ignore_checks);
break;
#endif
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init(ignore_checks);
break;
#endif
case BRAKE:
success = brake_init(ignore_checks);
break;
case THROW:
success = throw_init(ignore_checks);
break;
case AVOID_ADSB:
success = avoid_adsb_init(ignore_checks);
break;
case GUIDED_NOGPS:
success = guided_nogps_init(ignore_checks);
break;
default:
success = false;
break;
}
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = mode;
control_mode_reason = reason;
DataFlash.Log_Write_Mode(control_mode, control_mode_reason);
adsb.set_is_auto_mode((mode == AUTO) || (mode == RTL) || (mode == GUIDED));
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
}else{
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
}
// update notify object
if (success) {
notify_flight_mode(control_mode);
}
// return success or failure
return success;
}
// change flight mode and perform any necessary initialisation
// returns true if mode was successfully set
bool Sub::set_mode(control_mode_t mode, mode_reason_t reason)
{
// boolean to record if flight mode could be set
bool success = false;
// return immediately if we are already in the desired mode
if (mode == control_mode) {
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode_reason = reason;
return true;
}
switch (mode) {
case ACRO:
success = acro_init();
break;
case STABILIZE:
success = stabilize_init();
break;
case ALT_HOLD:
success = althold_init();
break;
case AUTO:
success = auto_init();
break;
case CIRCLE:
success = circle_init();
break;
case GUIDED:
success = guided_init();
break;
case SURFACE:
success = surface_init();
break;
#if POSHOLD_ENABLED == ENABLED
case POSHOLD:
success = poshold_init();
break;
#endif
case MANUAL:
success = manual_init();
break;
default:
success = false;
break;
}
// update flight mode
if (success) {
// perform any cleanup required by previous flight mode
exit_mode(control_mode, mode);
prev_control_mode = control_mode;
prev_control_mode_reason = control_mode_reason;
control_mode = mode;
control_mode_reason = reason;
logger.Write_Mode(control_mode, control_mode_reason);
// update notify object
notify_flight_mode(control_mode);
#if CAMERA == ENABLED
camera.set_is_auto_mode(control_mode == AUTO);
#endif
#if AC_FENCE == ENABLED
// pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
// this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
// but it should be harmless to disable the fence temporarily in these situations as well
fence.manual_recovery_start();
#endif
} else {
// Log error that we failed to enter desired flight mode
Log_Write_Error(ERROR_SUBSYSTEM_FLIGHT_MODE,mode);
}
// return success or failure
return success;
}