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Rover: use enum class for ArmingMethod and ArmingRequired

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This commit is contained in:
Peter Barker 2019-03-07 15:02:01 +11:00 committed by Peter Barker
parent ca7566fff9
commit 5bd0db4117
7 changed files with 10 additions and 10 deletions
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2
APMrover2/APMrover2.cpp
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@ -282,7 +282,7 @@ void Rover::one_second_loop(void)
// update notify flags // update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true; AP_Notify::flags.pre_arm_gps_check = true;
AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO; AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO;
// cope with changes to mavlink system ID // cope with changes to mavlink system ID
mavlink_system.sysid = g.sysid_this_mav; mavlink_system.sysid = g.sysid_this_mav;

2
APMrover2/GCS_Mavlink.cpp
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@ -607,7 +607,7 @@ MAV_RESULT GCS_MAVLINK_Rover::handle_command_long_packet(const mavlink_command_l
case MAV_CMD_COMPONENT_ARM_DISARM: case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1, 1.0f)) { if (is_equal(packet.param1, 1.0f)) {
// run pre_arm_checks and arm_checks and display failures // run pre_arm_checks and arm_checks and display failures
if (rover.arm_motors(AP_Arming::MAVLINK)) { if (rover.arm_motors(AP_Arming::Method::MAVLINK)) {
return MAV_RESULT_ACCEPTED; return MAV_RESULT_ACCEPTED;
} else { } else {
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;

2
APMrover2/RC_Channel.cpp
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@ -137,7 +137,7 @@ void RC_Channel_Rover::do_aux_function(const aux_func_t ch_option, const aux_swi
// arm or disarm the motors // arm or disarm the motors
case ARMDISARM: case ARMDISARM:
if (ch_flag == HIGH) { if (ch_flag == HIGH) {
rover.arm_motors(AP_Arming::RUDDER); rover.arm_motors(AP_Arming::Method::RUDDER);
} else if (ch_flag == LOW) { } else if (ch_flag == LOW) {
rover.disarm_motors(); rover.disarm_motors();
} }

2
APMrover2/Rover.h
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@ -512,7 +512,7 @@ private:
uint8_t check_digital_pin(uint8_t pin); uint8_t check_digital_pin(uint8_t pin);
bool should_log(uint32_t mask); bool should_log(uint32_t mask);
void change_arm_state(void); void change_arm_state(void);
bool arm_motors(AP_Arming::ArmingMethod method); bool arm_motors(AP_Arming::Method method);
bool disarm_motors(void); bool disarm_motors(void);
bool is_boat() const; bool is_boat() const;

2
APMrover2/motor_test.cpp
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@ -126,7 +126,7 @@ MAV_RESULT Rover::mavlink_motor_test_start(mavlink_channel_t chan, uint8_t motor
// arm motors // arm motors
if (!arming.is_armed()) { if (!arming.is_armed()) {
arm_motors(AP_Arming::ArmingMethod::MOTORTEST); arm_motors(AP_Arming::Method::MOTORTEST);
} }
// disable failsafes // disable failsafes

8
APMrover2/radio.cpp
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@ -42,8 +42,8 @@ void Rover::init_rc_in()
void Rover::rudder_arm_disarm_check() void Rover::rudder_arm_disarm_check()
{ {
// check if arming/disarm using rudder is allowed // check if arming/disarm using rudder is allowed
AP_Arming::ArmingRudder arming_rudder = arming.get_rudder_arming_type(); const AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) { if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
return; return;
} }
@ -72,14 +72,14 @@ void Rover::rudder_arm_disarm_check()
} }
} else { } else {
// time to arm! // time to arm!
arm_motors(AP_Arming::RUDDER); arm_motors(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0; rudder_arm_timer = 0;
} }
} else { } else {
// not at full right rudder // not at full right rudder
rudder_arm_timer = 0; rudder_arm_timer = 0;
} }
} else if ((arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM) && !g2.motors.active()) { } else if ((arming_rudder == AP_Arming::RudderArming::ARMDISARM) && !g2.motors.active()) {
// when armed and motor not active (not moving), full left rudder starts disarming counter // when armed and motor not active (not moving), full left rudder starts disarming counter
if (channel_steer->get_control_in() < -4000) { if (channel_steer->get_control_in() < -4000) {
const uint32_t now = millis(); const uint32_t now = millis();

2
APMrover2/system.cpp
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@ -335,7 +335,7 @@ void Rover::change_arm_state(void)
/* /*
arm motors arm motors
*/ */
bool Rover::arm_motors(AP_Arming::ArmingMethod method) bool Rover::arm_motors(AP_Arming::Method method)
{ {
if (!arming.arm(method)) { if (!arming.arm(method)) {
AP_Notify::events.arming_failed = true; AP_Notify::events.arming_failed = true;