Copter: eliminate mode_has_manual_throttle

ArduCopter/AP_Arming.cpp

@@ -668,7 +668,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
                 return false;
             }
             // in manual modes throttle must be at zero
-            if ((copter.mode_has_manual_throttle(control_mode) || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
+            if ((copter.flightmode->has_manual_throttle() || control_mode == DRIFT) && copter.channel_throttle->get_control_in() > 0) {
                 if (display_failure) {
                     #if FRAME_CONFIG == HELI_FRAME
                     gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Collective too high");

ArduCopter/Attitude.cpp

@@ -112,7 +112,7 @@ void Copter::update_throttle_hover()
     }
 
     // do not update in manual throttle modes or Drift
-    if (mode_has_manual_throttle(control_mode) || (control_mode == DRIFT)) {
+    if (flightmode->has_manual_throttle() || (control_mode == DRIFT)) {
         return;
     }
 

ArduCopter/Copter.h

@@ -803,7 +803,6 @@ private:
     void update_sensor_status_flags(void);
     bool set_mode(control_mode_t mode, mode_reason_t reason);
     void update_flight_mode();
-    bool mode_has_manual_throttle(control_mode_t mode);
     void notify_flight_mode();
     void heli_init();
     void check_dynamic_flight(void);

ArduCopter/baro_ground_effect.cpp

@@ -37,7 +37,7 @@ void Copter::update_ground_effect_detector(void)
     }
 
     // if we aren't taking off yet, reset the takeoff timer, altitude and complete flag
-    bool throttle_up = mode_has_manual_throttle(control_mode) && channel_throttle->get_control_in() > 0;
+    const bool throttle_up = flightmode->has_manual_throttle() && channel_throttle->get_control_in() > 0;
     if (!throttle_up && ap.land_complete) {
         gndeffect_state.takeoff_time_ms = tnow_ms;
         gndeffect_state.takeoff_alt_cm = inertial_nav.get_altitude();

ArduCopter/control_acro.cpp

@@ -9,7 +9,7 @@
 bool Copter::FlightMode_ACRO::init(bool ignore_checks)
 {
    // if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
-   if (motors->armed() && ap.land_complete && !_copter.mode_has_manual_throttle(_copter.control_mode) &&
+   if (motors->armed() && ap.land_complete && !_copter.flightmode->has_manual_throttle() &&
            (get_pilot_desired_throttle(channel_throttle->get_control_in(), _copter.g2.acro_thr_mid) > _copter.get_non_takeoff_throttle())) {
        return false;
    }

ArduCopter/control_stabilize.cpp

@@ -8,7 +8,7 @@
 bool Copter::FlightMode_STABILIZE::init(bool ignore_checks)
 {
     // if landed and the mode we're switching from does not have manual throttle and the throttle stick is too high
-    if (motors->armed() && ap.land_complete && !_copter.mode_has_manual_throttle(_copter.control_mode) &&
+    if (motors->armed() && ap.land_complete && !_copter.flightmode->has_manual_throttle() &&
             (get_pilot_desired_throttle(channel_throttle->get_control_in()) > get_non_takeoff_throttle())) {
         return false;
     }

ArduCopter/fence.cpp

@@ -30,7 +30,7 @@ void Copter::fence_check()
 
             // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
             // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
-            if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
+            if (ap.land_complete || (flightmode->has_manual_throttle() && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
                 init_disarm_motors();
             }else{
                 // if we are within 100m of the fence, RTL

ArduCopter/flight_mode.cpp

@@ -130,7 +130,7 @@ bool Copter::set_mode(control_mode_t mode, mode_reason_t reason)
 #if FRAME_CONFIG == HELI_FRAME
     // do not allow helis to enter a non-manual throttle mode if the
     // rotor runup is not complete
-    if (!ignore_checks && !mode_has_manual_throttle(mode) && !motors->rotor_runup_complete()){
+    if (!ignore_checks && !new_flightmode->has_manual_throttle() && !motors->rotor_runup_complete()){
         return false;
     }
 #endif
@@ -231,18 +231,6 @@ void Copter::exit_mode(Copter::FlightMode *&old_flightmode,
 #endif //HELI_FRAME
 }
 
-// mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
-bool Copter::mode_has_manual_throttle(control_mode_t mode)
-{
-    switch (mode) {
-        case ACRO:
-        case STABILIZE:
-            return true;
-        default:
-            return false;
-    }
-}
-
 // notify_flight_mode - sets notify object based on current flight mode.  Only used for OreoLED notify device
 void Copter::notify_flight_mode() {
     AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();

ArduCopter/land_detector.cpp

@@ -111,7 +111,7 @@ void Copter::set_land_complete(bool b)
     
     // trigger disarm-on-land if configured
     bool disarm_on_land_configured = (g.throttle_behavior & THR_BEHAVE_DISARM_ON_LAND_DETECT) != 0;
-    bool mode_disarms_on_land = flightmode->allows_arming(false) && !mode_has_manual_throttle(control_mode);
+    const bool mode_disarms_on_land = flightmode->allows_arming(false) && !flightmode->has_manual_throttle();
 
     if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
         init_disarm_motors();
@@ -143,7 +143,7 @@ void Copter::update_throttle_thr_mix()
         return;
     }
 
-    if (mode_has_manual_throttle(control_mode)) {
+    if (flightmode->has_manual_throttle()) {
         // manual throttle
         if(channel_throttle->get_control_in() <= 0) {
             attitude_control->set_throttle_mix_min();

ArduCopter/motors.cpp

@@ -46,7 +46,7 @@ void Copter::arm_motors_check()
 
     // full left
     }else if (tmp < -4000) {
-        if (!mode_has_manual_throttle(control_mode) && !ap.land_complete) {
+        if (!flightmode->has_manual_throttle() && !ap.land_complete) {
             arming_counter = 0;
             return;
         }
@@ -98,7 +98,7 @@ void Copter::auto_disarm_check()
     } else {
         bool sprung_throttle_stick = (g.throttle_behavior & THR_BEHAVE_FEEDBACK_FROM_MID_STICK) != 0;
         bool thr_low;
-        if (mode_has_manual_throttle(control_mode) || !sprung_throttle_stick) {
+        if (flightmode->has_manual_throttle() || !sprung_throttle_stick) {
             thr_low = ap.throttle_zero;
         } else {
             float deadband_top = channel_throttle->get_control_mid() + g.throttle_deadzone;

ArduCopter/system.cpp

@@ -386,7 +386,7 @@ void Copter::update_auto_armed()
             return;
         }
         // if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
-        if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) {
+        if(flightmode->has_manual_throttle() && ap.throttle_zero && !failsafe.radio) {
             set_auto_armed(false);
         }
 #if FRAME_CONFIG == HELI_FRAME