Copter: eliminate mode_requires_gps

ArduCopter/AP_Arming.cpp

@@ -378,7 +378,7 @@ bool AP_Arming_Copter::gps_checks(bool display_failure)
     }
 
     // check if flight mode requires GPS
-    bool mode_requires_gps = copter.mode_requires_GPS();
+    bool mode_requires_gps = copter.flightmode->requires_GPS();
 
     // check if fence requires GPS
     bool fence_requires_gps = false;

ArduCopter/ArduCopter.cpp

@@ -387,7 +387,7 @@ void Copter::ten_hz_logging_loop()
     if (should_log(MASK_LOG_RCOUT)) {
         DataFlash.Log_Write_RCOUT();
     }
-    if (should_log(MASK_LOG_NTUN) && (mode_requires_GPS() || landing_with_GPS())) {
+    if (should_log(MASK_LOG_NTUN) && (flightmode->requires_GPS() || landing_with_GPS())) {
         Log_Write_Nav_Tuning();
     }
     if (should_log(MASK_LOG_IMU) || should_log(MASK_LOG_IMU_FAST) || should_log(MASK_LOG_IMU_RAW)) {

ArduCopter/Copter.h

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

ArduCopter/ekf_check.cpp

@@ -98,7 +98,7 @@ bool Copter::ekf_check_position_problem()
     }
 
     // We don't know where we are.  Is this a problem?
-    if (copter.mode_requires_GPS(copter.control_mode)) {
+    if (copter.flightmode->requires_GPS()) {
         // Oh, yes, we have a problem
         return true;
     }

ArduCopter/flight_mode.cpp

@@ -292,18 +292,6 @@ void Copter::exit_mode(control_mode_t old_control_mode, control_mode_t new_contr
 #endif //HELI_FRAME
 }
 
-// returns true or false whether current control mode requires GPS
-bool Copter::mode_requires_GPS()
-{
-    if (flightmode != nullptr) {
-        return flightmode->requires_GPS();
-    }
-    switch (control_mode) {
-        default:
-            return false;
-    }
-}
-
 // 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)
 {