Sub: allow SURFACE mode to work with no altitude data #29996
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Williangalvani
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LGTM...sims fine...did not think you would want to get rid of requires GPS in the mode....if you are happy, I am happy |
| @@ -95,8 +95,8 @@ bool Sub::set_mode(Mode::Number mode, ModeReason reason) | |||
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| // check for valid altitude if old mode did not require it but new one does | |||
| // we only want to stop changing modes if it could make things worse | |||
| if (flightmode->has_manual_throttle() && | |||
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this rename makes it inconsistent with Copter. That's not necessarily a blocker but as we try to move vehicles closer to each other, let's try not to move in the opposite direction unless it's really necessary
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initially I had just created a new requires_altitude, which is what ardusub actually wants to know.
but that made has_manual_throttle unused, which is why the PR ended up like this.
I'm quite set on making the code "make sense" for someone reading (which means using the new name). but I don't mind keeping has_manual_throttle() for compatibility. Note that for surface mode, these are not equivalent.
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It's really great to see this! I'm not the Sub maintainer so please take my comments with a grain of salt. I'm just being as pedantic as I would be if the code were Copter or Rover. |
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Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
Williangalvani
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This fixes an issue where SURFACE mode doesn't work on vehicles with no baros for altitude sensor.