Copter: current_mode_has_user_takeoff -> Mode::has_user_takeoff

ArduCopter/Copter.h

@@ -923,8 +923,6 @@ private:
     const char* get_frame_string();
     void allocate_motors(void);
 
-    // takeoff.cpp
-    bool current_mode_has_user_takeoff(bool must_navigate);
     bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
     void takeoff_timer_start(float alt_cm);
     void takeoff_stop();

ArduCopter/mode.h

@@ -85,6 +85,8 @@ protected:
 
     virtual const char *name() const = 0;
 
+    virtual bool has_user_takeoff(bool must_navigate) const { return false; }
+
     // returns a string for this flightmode, exactly 4 bytes
     virtual const char *name4() const = 0;
 
@@ -220,6 +222,9 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
+    bool has_user_takeoff(bool must_navigate) const override {
+        return !must_navigate;
+    }
 
 protected:
 
@@ -264,6 +269,10 @@ public:
 
     bool landing_gear_should_be_deployed() const override;
 
+    // return true if this flight mode supports user takeoff
+    //  must_nagivate is true if mode must also control horizontal position
+    virtual bool has_user_takeoff(bool must_navigate) const { return false; }
+
     void payload_place_start();
 
     // only out here temporarily
@@ -675,6 +684,9 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
+    bool has_user_takeoff(bool must_navigate) const override {
+        return !must_navigate;
+    }
 
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -755,6 +767,7 @@ public:
     bool allows_arming(bool from_gcs) const override { return from_gcs; }
     bool is_autopilot() const override { return true; }
     bool in_guided_mode() const { return true; }
+    bool has_user_takeoff(bool must_navigate) const override { return true; }
 
     void set_angle(const Quaternion &q, float climb_rate_cms, bool use_yaw_rate, float yaw_rate_rads);
     bool set_destination(const Vector3f& destination, bool use_yaw = false, float yaw_cd = 0.0, bool use_yaw_rate = false, float yaw_rate_cds = 0.0, bool yaw_relative = false);
@@ -868,6 +881,7 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
+    bool has_user_takeoff(bool must_navigate) const override { return true; }
 
 #if PRECISION_LANDING == ENABLED
     void set_precision_loiter_enabled(bool value) { _precision_loiter_enabled = value; }
@@ -908,6 +922,7 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
+    bool has_user_takeoff(bool must_navigate) const override { return true; }
 
 protected:
 
@@ -1048,6 +1063,9 @@ public:
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(bool from_gcs) const override { return true; };
     bool is_autopilot() const override { return false; }
+    bool has_user_takeoff(bool must_navigate) const override {
+        return !must_navigate;
+    }
 
 protected:
 

ArduCopter/takeoff.cpp

@@ -5,28 +5,10 @@
 //   A safe takeoff speed is calculated and used to calculate a time_ms
 //   the pos_control target is then slowly increased until time_ms expires
 
-// return true if this flight mode supports user takeoff
-//  must_nagivate is true if mode must also control horizontal position
-bool Copter::current_mode_has_user_takeoff(bool must_navigate)
-{
-    switch (control_mode) {
-        case GUIDED:
-        case LOITER:
-        case POSHOLD:
-            return true;
-        case ALT_HOLD:
-        case SPORT:
-        case FLOWHOLD:
-            return !must_navigate;
-        default:
-            return false;
-    }
-}
-
 // initiate user takeoff - called when MAVLink TAKEOFF command is received
 bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 {
-    if (motors->armed() && ap.land_complete && current_mode_has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
+    if (motors->armed() && ap.land_complete && flightmode->has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
 
 #if FRAME_CONFIG == HELI_FRAME
         // Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning