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AP_Torqeedo: fixes after peer review

This commit is contained in:
Randy Mackay 2021-08-09 13:46:50 +09:00
parent 4c7f23bb67
commit 1ccbe0d0df
2 changed files with 9 additions and 4 deletions
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11
libraries/AP_Torqeedo/AP_Torqeedo.cpp
View File

@ -136,9 +136,14 @@ bool AP_Torqeedo::init_internals()
// returns true if the driver is enabled
bool AP_Torqeedo::enabled() const
{
if (_type == ConnectionType::TYPE_TILLER || _type == ConnectionType::TYPE_MOTOR) {
switch ((ConnectionType)_type) {
case ConnectionType::TYPE_DISABLED:
return false;
case ConnectionType::TYPE_TILLER:
case ConnectionType::TYPE_MOTOR:
return true;
}
return false;
}
@ -177,7 +182,7 @@ void AP_Torqeedo::thread_main()
if (safe_to_send()) {
// if connected to motor send motor speed every 0.5sec
if (_type == ConnectionType::TYPE_MOTOR &&
(AP_HAL::micros() - _last_send_motor_us > TORQEEDO_SEND_MOTOR_SPEED_INTERVAL_US)) {\
(AP_HAL::micros() - _last_send_motor_us > TORQEEDO_SEND_MOTOR_SPEED_INTERVAL_US)) {
_send_motor_speed = true;
}
@ -202,7 +207,7 @@ bool AP_Torqeedo::healthy()
{
// healthy if both receive and send have occurred in the last 3 seconds
WITH_SEMAPHORE(_last_healthy_sem);
uint32_t now_ms = AP_HAL::millis();
const uint32_t now_ms = AP_HAL::millis();
return ((now_ms - _last_received_ms < 3000) && (now_ms - _last_send_motor_ms < 3000));
}
}

2
libraries/AP_Torqeedo/AP_Torqeedo.h
View File

@ -69,7 +69,7 @@ private:
};
// TYPE parameter values
enum class ConnectionType {
enum class ConnectionType : uint8_t {
TYPE_DISABLED = 0,
TYPE_TILLER = 1,
TYPE_MOTOR = 2