Copter: add a Mode method to disable crash check

prevents looking for specific modes in the crash checker
ArduPilot · Jul 30, 2024 · 6881f42 · 6881f42
1 parent 9397ece
commit 6881f42
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Showing 2 changed files with 5 additions and 2 deletions.
diff --git a/ArduCopter/crash_check.cpp b/ArduCopter/crash_check.cpp
@@ -42,7 +42,7 @@ void Copter::crash_check()
     }
 
     // return immediately if we are not in an angle stabilize flight mode or we are flipping
-    if (flightmode->mode_number() == Mode::Number::ACRO || flightmode->mode_number() == Mode::Number::FLIP) {
+    if (flightmode->disable_crash_check()) {
         crash_counter = 0;
         return;
     }
@@ -273,7 +273,7 @@ void Copter::parachute_check()
     }
 
     // return immediately if we are not in an angle stabilize flight mode or we are flipping
-    if (flightmode->mode_number() == Mode::Number::ACRO || flightmode->mode_number() == Mode::Number::FLIP) {
+    if (flightmode->disable_crash_check()) {
         control_loss_count = 0;
         return;
     }

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -128,6 +128,7 @@ class Mode {
     virtual bool allows_save_trim() const { return false; }
     virtual bool allows_autotune() const { return false; }
     virtual bool allows_flip() const { return false; }
+    virtual bool disable_crash_check() const { return false; }
 
 #if FRAME_CONFIG == HELI_FRAME
     virtual bool allows_inverted() const { return false; };
@@ -420,6 +421,7 @@ class ModeAcro : public Mode {
     void air_mode_aux_changed();
     bool allows_save_trim() const override { return true; }
     bool allows_flip() const override { return true; }
+    bool disable_crash_check() const override { return true; }
 
 protected:
 
@@ -911,6 +913,7 @@ class ModeFlip : public Mode {
     bool has_manual_throttle() const override { return false; }
     bool allows_arming(AP_Arming::Method method) const override { return false; };
     bool is_autopilot() const override { return false; }
+    bool disable_crash_check() const override { return true; }
 
 protected: