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Copter: Create check_if_auxsw_mode_used() to check for function usage

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This commit is contained in:
Robert Lefebvre 2015-03-10 16:53:30 -04:00 committed by Randy Mackay
parent 97cd3614eb
commit 1afeb05398
2 changed files with 12 additions and 4 deletions
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2
ArduCopter/landing_gear.pde
View File

@ -4,7 +4,7 @@
static void landinggear_update(){
// If landing gear control is active, run update function.
if (g.ch7_option == AUXSW_LANDING_GEAR || g.ch8_option == AUXSW_LANDING_GEAR ){
if (check_if_auxsw_mode_used(AUXSW_LANDING_GEAR)){
// last status (deployed or retracted) used to check for changes
static bool last_deploy_status;

14
ArduCopter/switches.pde
View File

@ -36,9 +36,9 @@ static void read_control_switch()
}
}
if(g.ch7_option != AUXSW_SIMPLE_MODE && g.ch8_option != AUXSW_SIMPLE_MODE && g.ch7_option != AUXSW_SUPERSIMPLE_MODE && g.ch8_option != AUXSW_SUPERSIMPLE_MODE) {
// set Simple mode using stored paramters from Mission planner
// rather than by the control switch
if(!check_if_auxsw_mode_used(AUXSW_SIMPLE_MODE) && !check_if_auxsw_mode_used(AUXSW_SUPERSIMPLE_MODE)) {
// if none of the Aux Switches are set to Simple or Super Simple Mode then
// set Simple Mode using stored parameters from EEPROM
if (BIT_IS_SET(g.super_simple, switch_position)) {
set_simple_mode(2);
}else{
@ -58,6 +58,14 @@ static void read_control_switch()
control_switch_state.last_switch_position = switch_position;
}
// check_if_auxsw_mode_used - Check to see if any of the Aux Switches are set to a given mode.
static bool check_if_auxsw_mode_used(uint8_t auxsw_mode_check){
bool ret = g.ch7_option == auxsw_mode_check || g.ch8_option == auxsw_mode_check || g.ch9_option == auxsw_mode_check
|| g.ch10_option == auxsw_mode_check || g.ch11_option == auxsw_mode_check || g.ch12_option == auxsw_mode_check;
return ret;
}
static void reset_control_switch()
{
control_switch_state.last_switch_position = control_switch_state.debounced_switch_position = -1;