From a4859e13c1c692b65993596703b28046a1efb215 Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Thu, 24 Mar 2016 16:01:40 +1100
Subject: [PATCH] Copter: eliminate mode_allows_arming

---
 ArduCopter/AP_Arming.cpp     |  2 +-
 ArduCopter/Copter.h          |  1 -
 ArduCopter/flight_mode.cpp   | 50 +++---------------------------------
 ArduCopter/land_detector.cpp |  2 +-
 4 files changed, 6 insertions(+), 49 deletions(-)

diff --git a/ArduCopter/AP_Arming.cpp b/ArduCopter/AP_Arming.cpp
index cc61a9a004..1401ab163f 100644
--- a/ArduCopter/AP_Arming.cpp
+++ b/ArduCopter/AP_Arming.cpp
@@ -586,7 +586,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, bool arming_from_gcs)
     control_mode_t control_mode = copter.control_mode;
 
     // always check if the current mode allows arming
-    if (!copter.mode_allows_arming(arming_from_gcs)) {
+    if (!copter.flightmode->allows_arming(arming_from_gcs)) {
         if (display_failure) {
             gcs().send_text(MAV_SEVERITY_CRITICAL,"Arm: Mode not armable");
         }
diff --git a/ArduCopter/Copter.h b/ArduCopter/Copter.h
index 7955f37494..b063925a96 100644
--- a/ArduCopter/Copter.h
+++ b/ArduCopter/Copter.h
@@ -805,7 +805,6 @@ private:
     void exit_mode(control_mode_t old_control_mode, control_mode_t new_control_mode);
     bool mode_requires_GPS();
     bool mode_has_manual_throttle(control_mode_t mode);
-    bool mode_allows_arming(bool arming_from_gcs);
     void notify_flight_mode();
     void heli_init();
     void check_dynamic_flight(void);
diff --git a/ArduCopter/flight_mode.cpp b/ArduCopter/flight_mode.cpp
index 37df5949e2..ccfbd3681b 100644
--- a/ArduCopter/flight_mode.cpp
+++ b/ArduCopter/flight_mode.cpp
@@ -236,15 +236,7 @@ void Copter::update_flight_mode()
     // Update EKF speed limit - used to limit speed when we are using optical flow
     ahrs.getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
 
-    if (flightmode != nullptr) {
-        flightmode->run();
-    }
-
-    switch (control_mode) {
-
-        default:
-            break;
-    }
+    flightmode->run();
 }
 
 // exit_mode - high level call to organise cleanup as a flight mode is exited
@@ -324,42 +316,8 @@ bool Copter::mode_has_manual_throttle(control_mode_t mode)
     }
 }
 
-// mode_allows_arming - returns true if vehicle can be armed in the current mode
-//  arming_from_gcs should be set to true if the arming request comes from the ground station
-bool Copter::mode_allows_arming(bool arming_from_gcs)
-{
-    if (flightmode != nullptr) {
-        return flightmode->allows_arming(arming_from_gcs);
-    }
-    control_mode_t mode = control_mode;
-    if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || mode == DRIFT || mode == SPORT || mode == THROW || (arming_from_gcs && (mode == GUIDED || mode == GUIDED_NOGPS))) {
-        return true;
-    }
-    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.flight_mode = control_mode;
-
-    if (flightmode != nullptr) {
-        AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
-        notify.set_flight_mode_str(flightmode->name4());
-        return;
-    }
-    switch (control_mode) {
-            break;
-    default:
-            // all other are manual flight modes
-            AP_Notify::flags.autopilot_mode = false;
-            break;
-    }
-
-    // set flight mode string
-    switch (control_mode) {
-        default:
-            notify.set_flight_mode_str("----");
-            break;
-    }
+void Copter::notify_flight_mode() {
+    AP_Notify::flags.autopilot_mode = flightmode->is_autopilot();
+    notify.set_flight_mode_str(flightmode->name4());
 }
diff --git a/ArduCopter/land_detector.cpp b/ArduCopter/land_detector.cpp
index 8f56c75a37..7b160caf62 100644
--- a/ArduCopter/land_detector.cpp
+++ b/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 = mode_allows_arming(false) && !mode_has_manual_throttle(control_mode);
+    bool mode_disarms_on_land = flightmode->allows_arming(false) && !mode_has_manual_throttle(control_mode);
 
     if (ap.land_complete && motors->armed() && disarm_on_land_configured && mode_disarms_on_land) {
         init_disarm_motors();