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ArduCopter: neaten reading of aux switches

This commit is contained in:
Peter Barker 2016-11-17 12:23:50 +11:00 committed by Randy Mackay
parent 9e4628af58
commit 2fd6be8ccb
1 changed files with 18 additions and 58 deletions
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76
ArduCopter/switches.cpp
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@ -114,6 +114,16 @@ uint8_t Copter::read_3pos_switch(int16_t radio_in)
return AUX_SWITCH_MIDDLE; // switch is in middle position
}
// can't take reference to a bitfield member, thus a #define:
#define read_aux_switch(rc, flag, option) \
do { \
switch_position = read_3pos_switch(rc.get_radio_in()); \
if (flag != switch_position) { \
flag = switch_position; \
do_aux_switch_function(option, flag); \
} \
} while (false)
// read_aux_switches - checks aux switch positions and invokes configured actions
void Copter::read_aux_switches()
{
@ -124,69 +134,19 @@ void Copter::read_aux_switches()
return;
}
// check if ch7 switch has changed position
switch_position = read_3pos_switch(g.rc_7.get_radio_in());
if (aux_con.CH7_flag != switch_position) {
// set the CH7 flag
aux_con.CH7_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch7_option, aux_con.CH7_flag);
}
// check if Ch8 switch has changed position
switch_position = read_3pos_switch(g.rc_8.get_radio_in());
if (aux_con.CH8_flag != switch_position) {
// set the CH8 flag
aux_con.CH8_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch8_option, aux_con.CH8_flag);
}
// check if Ch9 switch has changed position
switch_position = read_3pos_switch(g.rc_9.get_radio_in());
if (aux_con.CH9_flag != switch_position) {
// set the CH9 flag
aux_con.CH9_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch9_option, aux_con.CH9_flag);
}
// check if Ch10 switch has changed position
switch_position = read_3pos_switch(g.rc_10.get_radio_in());
if (aux_con.CH10_flag != switch_position) {
// set the CH10 flag
aux_con.CH10_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch10_option, aux_con.CH10_flag);
}
// check if Ch11 switch has changed position
switch_position = read_3pos_switch(g.rc_11.get_radio_in());
if (aux_con.CH11_flag != switch_position) {
// set the CH11 flag
aux_con.CH11_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch11_option, aux_con.CH11_flag);
}
read_aux_switch(g.rc_7, aux_con.CH7_flag, g.ch7_option);
read_aux_switch(g.rc_8, aux_con.CH8_flag, g.ch8_option);
read_aux_switch(g.rc_9, aux_con.CH9_flag, g.ch9_option);
read_aux_switch(g.rc_10, aux_con.CH10_flag, g.ch10_option);
read_aux_switch(g.rc_11, aux_con.CH11_flag, g.ch11_option);
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
// check if Ch12 switch has changed position
switch_position = read_3pos_switch(g.rc_12.get_radio_in());
if (aux_con.CH12_flag != switch_position) {
// set the CH12 flag
aux_con.CH12_flag = switch_position;
// invoke the appropriate function
do_aux_switch_function(g.ch12_option, aux_con.CH12_flag);
}
read_aux_switch(g.rc_12, aux_con.CH12_flag, g.ch12_option);
#endif
}
#undef read_aux_switch
// init_aux_switches - invoke configured actions at start-up for aux function where it is safe to do so
void Copter::init_aux_switches()
{