AP_Logger: Support new ModeReason

libraries/AP_Logger/AP_Logger.cpp

@@ -705,7 +705,7 @@ void AP_Logger::Write_Message(const char *message)
     FOR_EACH_BACKEND(Write_Message(message));
 }
 
-void AP_Logger::Write_Mode(uint8_t mode, uint8_t reason)
+void AP_Logger::Write_Mode(uint8_t mode, const ModeReason reason)
 {
     FOR_EACH_BACKEND(Write_Mode(mode, reason));
 }

libraries/AP_Logger/AP_Logger.h

@@ -18,6 +18,7 @@
 #include <AP_Beacon/AP_Beacon.h>
 #include <AP_Proximity/AP_Proximity.h>
 #include <AP_InertialSensor/AP_InertialSensor_Backend.h>
+#include <AP_Vehicle/ModeReason.h>
 
 #include <stdint.h>
 
@@ -258,7 +259,7 @@ public:
     void Write_AttitudeView(AP_AHRS_View &ahrs, const Vector3f &targets);
     void Write_Current();
     void Write_Compass(uint64_t time_us=0);
-    void Write_Mode(uint8_t mode, uint8_t reason);
+    void Write_Mode(uint8_t mode, const ModeReason reason);
 
     void Write_EntireMission();
     void Write_Command(const mavlink_command_int_t &packet, MAV_RESULT result, bool was_command_long=false);

libraries/AP_Logger/AP_Logger_Backend.h

@@ -93,7 +93,7 @@ public:
     bool Write_MessageF(const char *fmt, ...);
     bool Write_Mission_Cmd(const AP_Mission &mission,
                                const AP_Mission::Mission_Command &cmd);
-    bool Write_Mode(uint8_t mode, uint8_t reason = 0);
+    bool Write_Mode(uint8_t mode, const ModeReason reason = ModeReason::UNKNOWN);
     bool Write_Parameter(const char *name, float value);
     bool Write_Parameter(const AP_Param *ap,
                              const AP_Param::ParamToken &token,

libraries/AP_Logger/LogFile.cpp

@@ -760,14 +760,15 @@ void AP_Logger::Write_Compass(uint64_t time_us)
 }
 
 // Write a mode packet.
-bool AP_Logger_Backend::Write_Mode(uint8_t mode, uint8_t reason)
+bool AP_Logger_Backend::Write_Mode(uint8_t mode, const ModeReason reason)
 {
+    static_assert(sizeof(ModeReason) <= sizeof(uint8_t), "Logging expects the ModeReason to fit in 8 bits");
     const struct log_Mode pkt{
         LOG_PACKET_HEADER_INIT(LOG_MODE_MSG),
         time_us  : AP_HAL::micros64(),
         mode     : mode,
         mode_num : mode,
-        mode_reason : reason
+        mode_reason : static_cast<uint8_t>(reason)
     };
     return WriteCriticalBlock(&pkt, sizeof(pkt));
 }