Copter: move zigzag exit into mode_zigzag.cpp

ArduCopter/mode.cpp

@@ -256,13 +256,6 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
         return false;
     }
 
-#if MODE_ZIGZAG_ENABLED == ENABLED && SPRAYER_ENABLED == ENABLED
-    // The pump will stop if the flight mode is changed from ZigZag to other
-    if (control_mode == Mode::Number::ZIGZAG && g2.zigzag_auto_pump_enabled) {
-        copter.sprayer.run(false);
-    }
-#endif
-
     // perform any cleanup required by previous flight mode
     exit_mode(flightmode, new_flightmode);
 
@@ -363,6 +356,12 @@ void Copter::exit_mode(Mode *&old_flightmode,
     }
 #endif
 
+#if MODE_ZIGZAG_ENABLED == ENABLED
+    if (old_flightmode == &mode_zigzag) {
+        mode_zigzag.exit();
+    }
+#endif
+
 #if FRAME_CONFIG == HELI_FRAME
     // firmly reset the flybar passthrough to false when exiting acro mode.
     if (old_flightmode == &mode_acro) {

ArduCopter/mode.h

@@ -1388,6 +1388,7 @@ public:
     using Mode::Mode;
 
     bool init(bool ignore_checks) override;
+    void exit();
     void run() override;
 
     bool requires_GPS() const override { return true; }

ArduCopter/mode_zigzag.cpp

@@ -41,6 +41,17 @@ bool ModeZigZag::init(bool ignore_checks)
     return true;
 }
 
+// perform cleanup required when leaving zigzag mode
+void ModeZigZag::exit()
+{
+#if SPRAYER_ENABLED == ENABLED
+    // The pump will stop if the flight mode is changed from ZigZag to other
+    if (g2.zigzag_auto_pump_enabled) {
+        copter.sprayer.run(false);
+    }
+#endif
+}
+
 // run the zigzag controller
 // should be called at 100hz or more
 void ModeZigZag::run()