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Plane: use bitfields in auto_state

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Andrew Tridgell 2014-08-04 20:02:14 +10:00
parent 16f1c6867f
commit 09a679368b
1 changed files with 8 additions and 7 deletions
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15
ArduPlane/ArduPlane.pde
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@ -521,11 +521,15 @@ static struct {
////////////////////////////////////////////////////////////////////////////////
static struct {
// Flag for using gps ground course instead of INS yaw. Set false when takeoff command in process.
bool takeoff_complete;
bool takeoff_complete:1;
// Flag to indicate if we have landed.
// Set land_complete if we are within 2 seconds distance or within 3 meters altitude of touchdown
bool land_complete;
bool land_complete:1;
// should we fly inverted?
bool inverted_flight:1;
// Altitude threshold to complete a takeoff command in autonomous modes. Centimeters
int32_t takeoff_altitude_cm;
@ -541,18 +545,15 @@ static struct {
// turn angle for next leg of mission
float next_turn_angle;
// should we fly inverted?
bool inverted_flight;
} auto_state = {
takeoff_complete : true,
land_complete : false,
inverted_flight : false,
takeoff_altitude_cm : 0,
takeoff_pitch_cd : 0,
highest_airspeed : 0,
initial_pitch_cd : 0,
next_turn_angle : 90.0f,
inverted_flight : false
next_turn_angle : 90.0f
};
// true if we are in an auto-throttle mode, which means