Copter: GCS_MAVLink: populate flags using position controller active flags #28131
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| case Mode::Number::POSHOLD: | ||
| case Mode::Number::BRAKE: | ||
| case Mode::Number::SMART_RTL: | ||
| if ((copter.pos_control != nullptr) && copter.pos_control->is_active_xy()) { | ||
| _base_mode |= MAV_MODE_FLAG_GUIDED_ENABLED; |
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This makes our answer here marginally worse.
My reading of that attribute is we should only set it actually chasing a waypoints "flies waypoints / mission items".
Not a blocker, but we really should cut this down to AUTO, AUTO_RTL, RTL and SMART_RTL at some stage.
…ethods for XY and Z flags
…` `GUIDED_ENABLED` flag
IamPete1
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I have rebased, I tested the auto mode case when disarmed or armed but waiting for high throttle in both cases both XY and Z control are active. However, I can't guarantee that this is the same in every combination of mode and submode. If we wanted identical behavior then this could be a per mode function call. |
MP doesn't look at them. |
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I have grepped QGC, there are no users of these bits there either. |
This means we don't need to switch on the mode number, extracted from #28110
This is the first time we will be using these flags for reporting, until now it is used internally only. There are some changes in behaviour, for example you can be landed in auto mode in which case the pos controller may not report as active (i need to check).