Copter: add allows_autotune function to Mode class

ArduCopter/mode.h

@@ -61,6 +61,7 @@ public:
     virtual bool in_guided_mode() const { return false; }
     virtual bool logs_attitude() const { return false; }
     virtual bool allows_save_trim() const { return false; }
+    virtual bool allows_autotune() const { return false; }
 
     // return a string for this flightmode
     virtual const char *name() const = 0;
@@ -326,6 +327,7 @@ public:
     bool has_user_takeoff(bool must_navigate) const override {
         return !must_navigate;
     }
+    bool allows_autotune() const override { return true; }
 
 protected:
 
@@ -933,6 +935,7 @@ public:
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
+    bool allows_autotune() const override { return true; }
 
 #if PRECISION_LANDING == ENABLED
     void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
@@ -975,6 +978,7 @@ public:
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool has_user_takeoff(bool must_navigate) const override { return true; }
+    bool allows_autotune() const override { return true; }
 
 protected:
 
@@ -1239,6 +1243,7 @@ public:
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
     bool allows_save_trim() const override { return true; }
+    bool allows_autotune() const override { return true; }
 
 protected:
 

ArduCopter/mode_autotune.cpp

@@ -23,11 +23,8 @@ bool AutoTune::init()
  */
 bool AutoTune::start()
 {
-    // only allow flip from Stabilize, AltHold,  PosHold or Loiter modes
+    // only allow AutoTune from some flight modes, for example Stabilize, AltHold,  PosHold or Loiter modes
-    if (copter.flightmode != &copter.mode_stabilize &&
+    if (!copter.flightmode->allows_autotune()) {
-        copter.flightmode != &copter.mode_althold &&
-        copter.flightmode != &copter.mode_loiter &&
-        copter.flightmode != &copter.mode_poshold) {
         return false;
     }