Plane: use get_frame_class/type string methods

use AP_Enum<> for frame_class/type
remove invalid copterTS check
improve quadplane setup failure message

Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>

ArduPlane/Log.cpp

@@ -506,6 +506,10 @@ void Plane::Log_Write_Vehicle_Startup_Messages()
 {
     // only 200(?) bytes are guaranteed by AP_Logger
     Log_Write_Startup(TYPE_GROUNDSTART_MSG);
+    if (quadplane.initialised) {
+        logger.Write_MessageF("QuadPlane Frame: %s/%s", quadplane.motors->get_frame_string(),
+                                                        quadplane.motors->get_type_string());
+    }
     logger.Write_Mode(control_mode->mode_number(), control_mode_reason);
     ahrs.Log_Write_Home_And_Origin();
     gps.Write_AP_Logger_Log_Startup_messages();

ArduPlane/quadplane.cpp

@@ -624,7 +624,6 @@ bool QuadPlane::setup(void)
     }
     float loop_delta_t = 1.0 / plane.scheduler.get_loop_rate_hz();
 
-    enum AP_Motors::motor_frame_class motor_class;
     enum Rotation rotation = ROTATION_NONE;
 
     /*
@@ -654,8 +653,6 @@ bool QuadPlane::setup(void)
         }
         frame_class.set_and_save(new_value);
     }
-    gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialise, class: %u, type: %u", 
-                    (unsigned)frame_class.get(), (unsigned)frame_type.get());
     
     if (hal.util->available_memory() <
         4096 + sizeof(*motors) + sizeof(*attitude_control) + sizeof(*pos_control) + sizeof(*wp_nav) + sizeof(*ahrs_view) + sizeof(*loiter_nav)) {
@@ -667,8 +664,7 @@ bool QuadPlane::setup(void)
       that the objects don't affect the vehicle unless enabled and
       also saves memory when not in use
      */
-    motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
+    switch ((AP_Motors::motor_frame_class)frame_class) {
-    switch (motor_class) {
     case AP_Motors::MOTOR_FRAME_QUAD:
         setup_default_channels(4);
         break;
@@ -692,12 +688,13 @@ bool QuadPlane::setup(void)
     case AP_Motors::MOTOR_FRAME_TAILSITTER:
         break;
     default:
-        AP_BoardConfig::config_error("Unknown Q_FRAME_CLASS %u", (unsigned)frame_class.get());
+        AP_BoardConfig::config_error("Unsupported Q_FRAME_CLASS %u", frame_class);
     }
+    ::printf("QuadPlane initialise, class: %u, type: %u\n", frame_class.get(), frame_type.get());
 
     if (tailsitter.motor_mask == 0) {
         // this is a normal quadplane
-        switch (motor_class) {
+        switch ((AP_Motors::motor_frame_class)frame_class) {
         case AP_Motors::MOTOR_FRAME_TRI:
             motors = new AP_MotorsTri(plane.scheduler.get_loop_rate_hz(), rc_speed);
             motors_var_info = AP_MotorsTri::var_info;
@@ -719,7 +716,7 @@ bool QuadPlane::setup(void)
         // this is a copter tailsitter with motor layout specified by frame_class and frame_type
         // tilting motors are not supported (tiltrotor control variables are ignored)
         if (tilt.tilt_mask != 0) {
-            gcs().send_text(MAV_SEVERITY_INFO, "Warning: Motor tilt not supported");
+            ::printf("Warning: Motor tilt not supported\n");
         }
         rotation = ROTATION_PITCH_90;
         motors = new AP_MotorsMatrix(plane.scheduler.get_loop_rate_hz(), rc_speed);
@@ -761,10 +758,10 @@ bool QuadPlane::setup(void)
     }
     AP_Param::load_object_from_eeprom(loiter_nav, loiter_nav->var_info);
 
-    motors->init((AP_Motors::motor_frame_class)frame_class.get(), (AP_Motors::motor_frame_type)frame_type.get());
+    motors->init(frame_class, frame_type);
 
     if (!motors->initialised_ok()) {
-        AP_BoardConfig::config_error("unknown Q_FRAME_TYPE %u", (unsigned)frame_type.get());
+        AP_BoardConfig::config_error("init failed: Q_FRAME_CLASS=%u Q_FRAME_TYPE=%u", frame_class, frame_type);
     }
 
     tilt.is_vectored = tilt.tilt_mask != 0 && tilt.tilt_type == TILT_TYPE_VECTORED_YAW;
@@ -783,7 +780,7 @@ bool QuadPlane::setup(void)
 
     // TODO: update this if servo function assignments change
     // used by relax_attitude_control() to control special behavior for vectored tailsitters
-    _is_vectored = (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) &&
+    _is_vectored = (frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) &&
                    (!is_zero(tailsitter.vectored_hover_gain) &&
                     (SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorLeft) ||
                      SRV_Channels::function_assigned(SRV_Channel::k_tiltMotorRight)));
@@ -822,7 +819,7 @@ bool QuadPlane::setup(void)
     // param count will have changed
     AP_Param::invalidate_count();
 
-    gcs().send_text(MAV_SEVERITY_INFO, "QuadPlane initialised");
+    ::printf("QuadPlane initialised, class: %s, type: %s\n", motors->get_frame_string(), motors->get_type_string());
     initialised = true;
     return true;
 }
@@ -834,9 +831,7 @@ void QuadPlane::setup_defaults(void)
 {
     AP_Param::set_defaults_from_table(defaults_table, ARRAY_SIZE(defaults_table));
 
-    enum AP_Motors::motor_frame_class motor_class;
+    if (frame_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
-    motor_class = (enum AP_Motors::motor_frame_class)frame_class.get();
-    if (motor_class == AP_Motors::MOTOR_FRAME_TAILSITTER) {
         AP_Param::set_defaults_from_table(defaults_table_tailsitter, ARRAY_SIZE(defaults_table_tailsitter));
     }
     

ArduPlane/quadplane.h

@@ -188,8 +188,8 @@ private:
 
     AP_InertialNav_NavEKF inertial_nav{ahrs};
 
-    AP_Int8 frame_class;
+    AP_Enum<AP_Motors::motor_frame_class> frame_class;
-    AP_Int8 frame_type;
+    AP_Enum<AP_Motors::motor_frame_type> frame_type;
     
     AP_MotorsMulticopter *motors;
     const struct AP_Param::GroupInfo *motors_var_info;