Plane: massive refactor and creation of Mode class

TForce1 · Apr 2, 2019 · 0270c57 · 0270c57
1 parent 49efe53
commit 0270c57
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Showing 55 changed files with 1,688 additions and 996 deletions.
diff --git a/ArduPlane/APM_Config.h.reference b/ArduPlane/APM_Config.h.reference
@@ -291,12 +291,12 @@
 //
 //#define FLIGHT_MODE_CHANNEL	8
 //
-//#define FLIGHT_MODE_1         RTL
-//#define FLIGHT_MODE_2         RTL
-//#define FLIGHT_MODE_3         STABILIZE
-//#define FLIGHT_MODE_4         STABILIZE
-//#define FLIGHT_MODE_5         MANUAL
-//#define FLIGHT_MODE_6         MANUAL
+//#define FLIGHT_MODE_1         Mode::Number::RTL
+//#define FLIGHT_MODE_2         Mode::Number::RTL
+//#define FLIGHT_MODE_3         Mode::Number::STABILIZE
+//#define FLIGHT_MODE_4         Mode::Number::STABILIZE
+//#define FLIGHT_MODE_5         Mode::Number::MANUAL
+//#define FLIGHT_MODE_6         Mode::Number::MANUAL
 //
 
 //////////////////////////////////////////////////////////////////////////////

diff --git a/ArduPlane/AP_Arming.cpp b/ArduPlane/AP_Arming.cpp
@@ -76,7 +76,7 @@ bool AP_Arming_Plane::pre_arm_checks(bool display_failure)
         }
     }
 
-    if (plane.control_mode == AUTO && plane.mission.num_commands() <= 1) {
+    if (plane.control_mode == &plane.mode_auto && plane.mission.num_commands() <= 1) {
         check_failed(ARMING_CHECK_NONE, display_failure, "No mission loaded");
         ret = false;
     }