From 61ed812fc40fe0e1f31acc98a1df687fac4f9e65 Mon Sep 17 00:00:00 2001
From: Randy Mackay <rmackay9@yahoo.com>
Date: Fri, 6 Mar 2015 15:33:25 +0900
Subject: [PATCH] Copter: set Notify's autopilot_mode flag

---
 ArduCopter/flight_mode.pde | 23 +++++++++++++++++++++++
 1 file changed, 23 insertions(+)

diff --git a/ArduCopter/flight_mode.pde b/ArduCopter/flight_mode.pde
index 81c6f608dc..01ae80fb5c 100644
--- a/ArduCopter/flight_mode.pde
+++ b/ArduCopter/flight_mode.pde
@@ -112,6 +112,11 @@ static bool set_mode(uint8_t 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;
 }
@@ -268,6 +273,24 @@ static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
     return false;
 }
 
+// notify_flight_mode - sets notify object based on flight mode.  Only used for OreoLED notify device
+static void notify_flight_mode(uint8_t mode) {
+    switch(mode) {
+        case AUTO:
+        case GUIDED:
+        case RTL:
+        case CIRCLE:
+        case LAND:
+            // autopilot modes
+            AP_Notify::flags.autopilot_mode = true;
+            break;
+        default:
+            // all other are manual flight modes
+            AP_Notify::flags.autopilot_mode = false;
+            break;
+    }
+}
+
 //
 // print_flight_mode - prints flight mode to serial port.
 //