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Copter: add Copter::option_enabled(...) replacing bitops vs copter.g2.flight_options

This commit is contained in:
Peter Barker 2024-06-19 12:48:32 +10:00 committed by Peter Barker
parent 5ca8c0058c
commit 3630e772b1
2 changed files with 8 additions and 4 deletions
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6
ArduCopter/Copter.h
View File

@ -622,11 +622,15 @@ private:
}; };
enum class FlightOptions { enum class FlightOption : uint32_t {
DISABLE_THRUST_LOSS_CHECK = (1<<0), // 1 DISABLE_THRUST_LOSS_CHECK = (1<<0), // 1
DISABLE_YAW_IMBALANCE_WARNING = (1<<1), // 2 DISABLE_YAW_IMBALANCE_WARNING = (1<<1), // 2
RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2), // 4 RELEASE_GRIPPER_ON_THRUST_LOSS = (1<<2), // 4
}; };
// returns true if option is enabled for this vehicle
bool option_is_enabled(FlightOption option) const {
return (g2.flight_options & uint32_t(option)) != 0;
}
static constexpr int8_t _failsafe_priorities[] = { static constexpr int8_t _failsafe_priorities[] = {
(int8_t)FailsafeAction::TERMINATE, (int8_t)FailsafeAction::TERMINATE,

6
ArduCopter/crash_check.cpp
View File

@ -102,7 +102,7 @@ void Copter::thrust_loss_check()
static uint16_t thrust_loss_counter; // number of iterations vehicle may have been crashed static uint16_t thrust_loss_counter; // number of iterations vehicle may have been crashed
// no-op if suppressed by flight options param // no-op if suppressed by flight options param
if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_THRUST_LOSS_CHECK)) != 0) { if (copter.option_is_enabled(FlightOption::DISABLE_THRUST_LOSS_CHECK)) {
return; return;
} }
@ -171,7 +171,7 @@ void Copter::thrust_loss_check()
// the motors library disables this when it is no longer needed to achieve the commanded output // the motors library disables this when it is no longer needed to achieve the commanded output
#if AP_GRIPPER_ENABLED #if AP_GRIPPER_ENABLED
if ((copter.g2.flight_options & uint32_t(FlightOptions::RELEASE_GRIPPER_ON_THRUST_LOSS)) != 0) { if (copter.option_is_enabled(FlightOption::RELEASE_GRIPPER_ON_THRUST_LOSS)) {
gripper.release(); gripper.release();
} }
#endif #endif
@ -182,7 +182,7 @@ void Copter::thrust_loss_check()
void Copter::yaw_imbalance_check() void Copter::yaw_imbalance_check()
{ {
// no-op if suppressed by flight options param // no-op if suppressed by flight options param
if ((copter.g2.flight_options & uint32_t(FlightOptions::DISABLE_YAW_IMBALANCE_WARNING)) != 0) { if (copter.option_is_enabled(FlightOption::DISABLE_YAW_IMBALANCE_WARNING)) {
return; return;
} }