Copter: make do_user_takeoff a member of Mode

ArduCopter/Copter.h

@@ -923,7 +923,6 @@ private:
     const char* get_frame_string();
     void allocate_motors(void);
 
-    bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
     void takeoff_timer_start(float alt_cm);
     void takeoff_stop();
     void takeoff_get_climb_rates(float& pilot_climb_rate, float& takeoff_climb_rate);

ArduCopter/GCS_Mavlink.cpp

@@ -817,7 +817,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
 
             float takeoff_alt = packet.param7 * 100;      // Convert m to cm
 
-            if(copter.do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
+            if (copter.flightmode->do_user_takeoff(takeoff_alt, is_zero(packet.param3))) {
                 result = MAV_RESULT_ACCEPTED;
             } else {
                 result = MAV_RESULT_FAILED;
@@ -1109,7 +1109,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
             } else if (copter.ap.land_complete) {
                 // if armed and landed, takeoff
                 if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {
-                    copter.do_user_takeoff(packet.param1*100, true);
+                    copter.flightmode->do_user_takeoff(packet.param1*100, true);
                 }
             } else {
                 // if flying, land

ArduCopter/mode.h

@@ -71,6 +71,8 @@ public:
     };
     static AutoYaw auto_yaw;
 
+    bool do_user_takeoff(float takeoff_alt_cm, bool must_navigate);
+
 protected:
 
     virtual bool init(bool ignore_checks) = 0;

ArduCopter/takeoff.cpp

@@ -6,22 +6,22 @@
 //   the pos_control target is then slowly increased until time_ms expires
 
 // initiate user takeoff - called when MAVLink TAKEOFF command is received
-bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
+bool Copter::Mode::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
 {
-    if (motors->armed() && ap.land_complete && flightmode->has_user_takeoff(must_navigate) && takeoff_alt_cm > current_loc.alt) {
+    if (copter.motors->armed() && ap.land_complete && has_user_takeoff(must_navigate) && takeoff_alt_cm > copter.current_loc.alt) {
 
 #if FRAME_CONFIG == HELI_FRAME
         // Helicopters should return false if MAVlink takeoff command is received while the rotor is not spinning
-        if (!motors->rotor_runup_complete()) {
+        if (!copter.motors->rotor_runup_complete()) {
             return false;
         }
 #endif
 
-        switch(control_mode) {
+        switch(copter.control_mode) {
 #if MODE_GUIDED_ENABLED == ENABLED
             case GUIDED:
-                if (mode_guided.takeoff_start(takeoff_alt_cm)) {
-                    set_auto_armed(true);
+                if (copter.mode_guided.takeoff_start(takeoff_alt_cm)) {
+                    copter.set_auto_armed(true);
                     return true;
                 }
                 return false;
@@ -31,7 +31,7 @@ bool Copter::do_user_takeoff(float takeoff_alt_cm, bool must_navigate)
             case ALT_HOLD:
             case SPORT:
             case FLOWHOLD:
-                set_auto_armed(true);
+                copter.set_auto_armed(true);
                 takeoff_timer_start(takeoff_alt_cm);
                 return true;
             default: