From 41cd906641dc7c832adf41d061cdea9515187c95 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Thu, 20 Dec 2018 22:06:51 +1100 Subject: [PATCH] Copter: beep on mode change/change failure for aux switch changes --- ArduCopter/RC_Channel.cpp | 12 ++++++++++-- 1 file changed, 10 insertions(+), 2 deletions(-) diff --git a/ArduCopter/RC_Channel.cpp b/ArduCopter/RC_Channel.cpp index 7aedde6b50..ac07d798cb 100644 --- a/ArduCopter/RC_Channel.cpp +++ b/ArduCopter/RC_Channel.cpp @@ -116,10 +116,18 @@ void RC_Channel_Copter::do_aux_function_change_mode(const control_mode_t mode, const aux_switch_pos_t ch_flag) { switch(ch_flag) { - case HIGH: + case HIGH: { // engage mode (if not possible we remain in current flight mode) - copter.set_mode(mode, MODE_REASON_TX_COMMAND); + const bool success = copter.set_mode(mode, MODE_REASON_TX_COMMAND); + if (copter.ap.initialised) { + if (success) { + AP_Notify::events.user_mode_change = 1; + } else { + AP_Notify::events.user_mode_change_failed = 1; + } + } break; + } default: // return to flight mode switch's flight mode if we are currently // in this mode