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AP_Arming: use enum class for ArmingMethod and ArmingRequired

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This commit is contained in:
Peter Barker 2019-03-07 14:12:39 +11:00 committed by Peter Barker
parent 8d75e8c5bb
commit 0dacf78c12
2 changed files with 19 additions and 18 deletions
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16
libraries/AP_Arming/AP_Arming.cpp
View File

@ -44,9 +44,9 @@
#define AP_ARMING_AHRS_GPS_ERROR_MAX 10 // accept up to 10m difference between AHRS and GPS
#if APM_BUILD_TYPE(APM_BUILD_ArduPlane)
#define ARMING_RUDDER_DEFAULT ARMING_RUDDER_ARMONLY
#define ARMING_RUDDER_DEFAULT (uint8_t)RudderArming::ARMONLY
#else
#define ARMING_RUDDER_DEFAULT ARMING_RUDDER_ARMDISARM
#define ARMING_RUDDER_DEFAULT (uint8_t)RudderArming::ARMDISARM
#endif
extern const AP_HAL::HAL& hal;
@ -122,7 +122,7 @@ uint16_t AP_Arming::compass_magfield_expected() const
bool AP_Arming::is_armed()
{
return (ArmingRequired)require.get() == NO || armed;
return (Required)require.get() == Required::NO || armed;
}
uint16_t AP_Arming::get_enabled_checks()
@ -723,7 +723,7 @@ bool AP_Arming::fence_checks(bool display_failure)
bool AP_Arming::pre_arm_checks(bool report)
{
#if !APM_BUILD_TYPE(APM_BUILD_ArduCopter)
if (armed || require == NO) {
if (armed || require == (uint8_t)Required::NO) {
// if we are already armed or don't need any arming checks
// then skip the checks
return true;
@ -745,7 +745,7 @@ bool AP_Arming::pre_arm_checks(bool report)
& can_checks(report);
}
bool AP_Arming::arm_checks(ArmingMethod method)
bool AP_Arming::arm_checks(AP_Arming::Method method)
{
// ensure the GPS drivers are ready on any final changes
if ((checks_to_perform & ARMING_CHECK_ALL) ||
@ -777,7 +777,7 @@ bool AP_Arming::arm_checks(ArmingMethod method)
}
//returns true if arming occurred successfully
bool AP_Arming::arm(AP_Arming::ArmingMethod method, const bool do_arming_checks)
bool AP_Arming::arm(AP_Arming::Method method, const bool do_arming_checks)
{
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
// Copter should never use this function
@ -839,9 +839,9 @@ bool AP_Arming::disarm()
#endif
}
AP_Arming::ArmingRequired AP_Arming::arming_required()
AP_Arming::Required AP_Arming::arming_required()
{
return (AP_Arming::ArmingRequired)require.get();
return (AP_Arming::Required)require.get();
}
// Copter and sub share the same RC input limits

21
libraries/AP_Arming/AP_Arming.h
View File

@ -33,22 +33,22 @@ public:
ARMING_CHECK_MISSION = 0x4000,
};
enum ArmingMethod {
enum class Method {
RUDDER,
MAVLINK,
AUXSWITCH,
MOTORTEST,
};
enum ArmingRequired {
enum class Required {
NO = 0,
YES_MIN_PWM = 1,
YES_ZERO_PWM = 2
};
// these functions should not be used by Copter which holds the armed state in the motors library
ArmingRequired arming_required();
virtual bool arm(ArmingMethod method, bool do_arming_checks=true);
Required arming_required();
virtual bool arm(AP_Arming::Method method, bool do_arming_checks=true);
bool disarm();
bool is_armed();
@ -61,18 +61,19 @@ public:
// some arming checks have side-effects, or require some form of state
// change to have occurred, and thus should not be done as pre-arm
// checks. Those go here:
bool arm_checks(ArmingMethod method);
bool arm_checks(AP_Arming::Method method);
// get expected magnetic field strength
uint16_t compass_magfield_expected() const;
// rudder arming support
enum ArmingRudder {
ARMING_RUDDER_DISABLED = 0,
ARMING_RUDDER_ARMONLY = 1,
ARMING_RUDDER_ARMDISARM = 2
enum class RudderArming {
IS_DISABLED = 0, // DISABLED leaks in from vehicle defines.h
ARMONLY = 1,
ARMDISARM = 2
};
ArmingRudder get_rudder_arming_type() const { return (ArmingRudder)_rudder_arming.get(); }
RudderArming get_rudder_arming_type() const { return (RudderArming)_rudder_arming.get(); }
static const struct AP_Param::GroupInfo var_info[];