AP_Sccripting: examples: Flip Mode: refuse mode entry if not armed an…

…d flying
ArduPilot · Nov 14, 2024 · ce65f28 · ce65f28
1 parent 6d03d9e
commit ce65f28
Showing 1 changed file with 7 additions and 1 deletion.
diff --git a/libraries/AP_Scripting/examples/Flip_Mode.lua b/libraries/AP_Scripting/examples/Flip_Mode.lua
@@ -2,7 +2,7 @@
 local MODE_NUMBER = 100
 
 -- Register flip as mode 100
-assert(vehicle:register_custom_mode(MODE_NUMBER, "Flip", "FLIP"))
+local FLIP_MODE_STATE = assert(vehicle:register_custom_mode(MODE_NUMBER, "Flip 2", "FLI2"))
 
 -- Get input channels
 local THROTTLE_CHAN = math.floor(assert(param:get("RCMAP_THROTTLE")))
@@ -217,6 +217,12 @@ local function exit()
 end
 
 local function update()
+
+    -- Only allow entry into flip mode if armed and flying
+    local armed = arming:is_armed()
+    local flying = vehicle:get_likely_flying()
+    FLIP_MODE_STATE:allow_entry(armed and flying)
+
     local mode = vehicle:get_mode()
     if mode == MODE_NUMBER then
         if last_mode_number ~= MODE_NUMBER then