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Rover: move mode_from_mode_num to mode.cpp

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This commit is contained in:
TsuyoshiKawamura 2019-01-08 02:22:03 +09:00 committed by Tom Pittenger
parent 512c50a6c4
commit 17f8b89b17
3 changed files with 47 additions and 47 deletions
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46
APMrover2/RC_Channel.cpp
View File

@ -10,52 +10,6 @@
#include <RC_Channel/RC_Channels_VarInfo.h>
Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
{
Mode *ret = nullptr;
switch (num) {
case Mode::Number::MANUAL:
ret = &mode_manual;
break;
case Mode::Number::ACRO:
ret = &mode_acro;
break;
case Mode::Number::STEERING:
ret = &mode_steering;
break;
case Mode::Number::HOLD:
ret = &mode_hold;
break;
case Mode::Number::LOITER:
ret = &mode_loiter;
break;
case Mode::Number::FOLLOW:
ret = &mode_follow;
break;
case Mode::Number::SIMPLE:
ret = &mode_simple;
break;
case Mode::Number::AUTO:
ret = &mode_auto;
break;
case Mode::Number::RTL:
ret = &mode_rtl;
break;
case Mode::Number::SMART_RTL:
ret = &mode_smartrtl;
break;
case Mode::Number::GUIDED:
ret = &mode_guided;
break;
case Mode::Number::INITIALISING:
ret = &mode_initializing;
break;
default:
break;
}
return ret;
}
int8_t RC_Channels_Rover::flight_mode_channel_number() const
{
return rover.g.mode_channel;

2
APMrover2/Rover.h
View File

@ -408,7 +408,7 @@ private:
// compat.cpp
void delay(uint32_t ms);
// control_modes.cpp
// mode.cpp
Mode *mode_from_mode_num(enum Mode::Number num);
// crash_check.cpp

46
APMrover2/mode.cpp
View File

@ -550,3 +550,49 @@ void Mode::calc_stopping_location(Location& stopping_loc)
location_offset(stopping_loc, stopping_offset.x, stopping_offset.y);
}
Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
{
Mode *ret = nullptr;
switch (num) {
case Mode::Number::MANUAL:
ret = &mode_manual;
break;
case Mode::Number::ACRO:
ret = &mode_acro;
break;
case Mode::Number::STEERING:
ret = &mode_steering;
break;
case Mode::Number::HOLD:
ret = &mode_hold;
break;
case Mode::Number::LOITER:
ret = &mode_loiter;
break;
case Mode::Number::FOLLOW:
ret = &mode_follow;
break;
case Mode::Number::SIMPLE:
ret = &mode_simple;
break;
case Mode::Number::AUTO:
ret = &mode_auto;
break;
case Mode::Number::RTL:
ret = &mode_rtl;
break;
case Mode::Number::SMART_RTL:
ret = &mode_smartrtl;
break;
case Mode::Number::GUIDED:
ret = &mode_guided;
break;
case Mode::Number::INITIALISING:
ret = &mode_initializing;
break;
default:
break;
}
return ret;
}