Rover: HOLD mode in AUTO will keep reversed flag

[robot-to-society]

Currently, changing the hold mode from AUTO resets the reverse flag, which is not the correct behavior for a mowing mission that contains a DO_SET_REVERSE command. I would like to be able to maintain the reverse flag while the mower goes from AUTO -> HOLD -> AUTO.

This is a video tested in SITL.
https://drive.google.com/file/d/1QhU1QoM_vY50oIVMzYeWu1zqfvpIl-3N/view?usp=sharing

[IamPete1]

I wonder if we could make it work more generally. We have the is_autopilot_mode method. Maybe we only reset if entering a autopilot mode which is not auto, and then we add a reset on mission start (IE not resume).

[robot-to-society]

@IamPete1 Thanks for your comment. I agree with your suggestion. I'll try it.

[rmackay9]

Hi @robot-to-society, looking good! Can you squash all the Rover commits together?

[robot-to-society]

@rmackay9 Thank you for review this PR. It squashed and change commit message a little bit. Is this OK?

[rmackay9]

Hi @robot-to-society,

Ah, it looks like the 1st commit changes both AP_Mission and Rover. There should be two commits, one that affects AP_Mission and the other Rover. I think you can handle git but if you want me to fix it up I can.

Thanks!

[robot-to-society]

@rmackay9 I think it's fixed now.

[rmackay9]

looks good, thanks!

[peterbarker]

Suggested change

	if (is_autopilot_mode() && mode_number() != Mode::Number::AUTO) {
	init_reversed_flag()

... and crate a virtual method on the Mode object which checks is_autopilot_mode, and overridden by ModeAuto to check the is_resume flag.

[robot-to-society]

@peterbarker Thank you for your comment. I'm not sure if I understood your advice properly, but I fixed it. I tested with SITL and it worked perfectly for me.

[peterbarker]

LGTM, thanks!