mirror of https://github.com/ArduPilot/ardupilot
Rover: create an enumeration to hold vehicle mode constants
This gives us type-safety on the mode numbers. This is advantageous as some of these symbols exist with different values elsewhere in the code.
This commit is contained in:
Peter Barker
Randy Mackay
parent
b32b57ad75
commit
36705af8ff
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@ -1281,7 +1281,7 @@ AP_Mission *GCS_MAVLINK_Rover::get_mission()
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bool GCS_MAVLINK_Rover::set_mode(const uint8_t mode)
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{
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Mode *new_mode = rover.mode_from_mode_num((enum mode)mode);
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Mode *new_mode = rover.mode_from_mode_num((enum Mode::Number)mode);
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if (new_mode == nullptr) {
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return false;
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}
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@ -35,7 +35,7 @@ const AP_Param::Info Rover::var_info[] = {
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// @Description: This selects the mode to start in on boot. This is useful for when you want to start in AUTO mode on boot without a receiver. Usually used in combination with when AUTO_TRIGGER_PIN or AUTO_KICKSTART.
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// @Values: 0:MANUAL,1:ACRO,3:STEERING,4:HOLD,5:LOITER,10:AUTO,11:RTL,15:GUIDED
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// @User: Advanced
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GSCALAR(initial_mode, "INITIAL_MODE", MANUAL),
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GSCALAR(initial_mode, "INITIAL_MODE", Mode::Number::MANUAL),
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// @Param: SYSID_THIS_MAV
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// @DisplayName: MAVLink system ID of this vehicle
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@ -236,42 +236,42 @@ const AP_Param::Info Rover::var_info[] = {
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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// @Description: Driving mode for switch position 1 (910 to 1230 and above 2049)
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GSCALAR(mode1, "MODE1", MANUAL),
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GSCALAR(mode1, "MODE1", Mode::Number::MANUAL),
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// @Param: MODE2
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// @DisplayName: Mode2
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// @Description: Driving mode for switch position 2 (1231 to 1360)
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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GSCALAR(mode2, "MODE2", MANUAL),
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GSCALAR(mode2, "MODE2", Mode::Number::MANUAL),
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// @Param: MODE3
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// @DisplayName: Mode3
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// @Description: Driving mode for switch position 3 (1361 to 1490)
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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GSCALAR(mode3, "MODE3", MANUAL),
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GSCALAR(mode3, "MODE3", Mode::Number::MANUAL),
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// @Param: MODE4
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// @DisplayName: Mode4
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// @Description: Driving mode for switch position 4 (1491 to 1620)
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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GSCALAR(mode4, "MODE4", MANUAL),
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GSCALAR(mode4, "MODE4", Mode::Number::MANUAL),
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// @Param: MODE5
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// @DisplayName: Mode5
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// @Description: Driving mode for switch position 5 (1621 to 1749)
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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GSCALAR(mode5, "MODE5", MANUAL),
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GSCALAR(mode5, "MODE5", Mode::Number::MANUAL),
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// @Param: MODE6
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// @DisplayName: Mode6
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// @Description: Driving mode for switch position 6 (1750 to 2049)
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// @Values: 0:Manual,1:Acro,3:Steering,4:Hold,5:Loiter,10:Auto,11:RTL,12:SmartRTL,15:Guided
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// @User: Standard
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GSCALAR(mode6, "MODE6", MANUAL),
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GSCALAR(mode6, "MODE6", Mode::Number::MANUAL),
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// @Param: WP_RADIUS
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// @DisplayName: Waypoint radius
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@ -434,7 +434,7 @@ private:
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void delay(uint32_t ms);
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// control_modes.cpp
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Mode *mode_from_mode_num(enum mode num);
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Mode *mode_from_mode_num(enum Mode::Number num);
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void read_control_switch();
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uint8_t readSwitch(void);
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void reset_control_switch();
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@ -2,38 +2,38 @@
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static const int16_t CH_7_PWM_TRIGGER = 1800;
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Mode *Rover::mode_from_mode_num(const enum mode num)
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Mode *Rover::mode_from_mode_num(const enum Mode::Number num)
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{
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Mode *ret = nullptr;
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switch (num) {
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case MANUAL:
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case Mode::Number::MANUAL:
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ret = &mode_manual;
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break;
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case ACRO:
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case Mode::Number::ACRO:
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ret = &mode_acro;
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break;
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case STEERING:
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case Mode::Number::STEERING:
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ret = &mode_steering;
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break;
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case HOLD:
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case Mode::Number::HOLD:
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ret = &mode_hold;
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break;
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case LOITER:
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case Mode::Number::LOITER:
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ret = &mode_loiter;
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break;
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case AUTO:
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case Mode::Number::AUTO:
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ret = &mode_auto;
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break;
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case RTL:
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case Mode::Number::RTL:
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ret = &mode_rtl;
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break;
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case SMART_RTL:
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case Mode::Number::SMART_RTL:
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ret = &mode_smartrtl;
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break;
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case GUIDED:
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case Mode::Number::GUIDED:
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ret = &mode_guided;
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break;
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case INITIALISING:
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case Mode::Number::INITIALISING:
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ret = &mode_initializing;
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break;
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default:
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@ -76,7 +76,7 @@ void Rover::read_control_switch()
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return;
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}
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Mode *new_mode = mode_from_mode_num((enum mode)modes[switchPosition].get());
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Mode *new_mode = mode_from_mode_num((enum Mode::Number)modes[switchPosition].get());
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if (new_mode != nullptr) {
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set_mode(*new_mode, MODE_REASON_TX_COMMAND);
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}
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@ -34,21 +34,6 @@ enum ch7_option {
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#define HIL_MODE_DISABLED 0
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#define HIL_MODE_SENSORS 1
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// Auto Pilot modes
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// ----------------
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enum mode {
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MANUAL = 0,
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ACRO = 1,
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STEERING = 3,
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HOLD = 4,
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LOITER = 5,
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AUTO = 10,
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RTL = 11,
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SMART_RTL = 12,
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GUIDED = 15,
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INITIALISING = 16
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};
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// types of failsafe events
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#define FAILSAFE_EVENT_THROTTLE (1<<0)
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#define FAILSAFE_EVENT_GCS (1<<1)
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@ -16,6 +16,21 @@ class Mode
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{
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public:
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// Auto Pilot modes
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// ----------------
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enum Number {
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MANUAL = 0,
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ACRO = 1,
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STEERING = 3,
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HOLD = 4,
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LOITER = 5,
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AUTO = 10,
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RTL = 11,
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SMART_RTL = 12,
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GUIDED = 15,
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INITIALISING = 16
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};
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// Constructor
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Mode();
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@ -146,7 +146,7 @@ void Rover::init_ardupilot()
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startup_ground();
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Mode *initial_mode = mode_from_mode_num((enum mode)g.initial_mode.get());
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Mode *initial_mode = mode_from_mode_num((enum Mode::Number)g.initial_mode.get());
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if (initial_mode == nullptr) {
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initial_mode = &mode_initializing;
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}
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@ -262,7 +262,7 @@ bool Rover::set_mode(Mode &new_mode, mode_reason_t reason)
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#endif
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#if CAMERA == ENABLED
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camera.set_is_auto_mode(control_mode->mode_number() == AUTO);
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camera.set_is_auto_mode(control_mode->mode_number() == Mode::Number::AUTO);
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#endif
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old_mode.exit();
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