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Copter: add and use private ModeAuto::option_is_enabled method

This commit is contained in:
Peter Barker 2024-07-17 10:33:25 +10:00 committed by Andrew Tridgell
parent 7e722eeb94
commit 5f9abc0406
2 changed files with 15 additions and 6 deletions
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3
ArduCopter/mode.h
View File

@ -596,12 +596,13 @@ protected:
private:
enum class Options : int32_t {
enum class Option : int32_t {
AllowArming = (1 << 0U),
AllowTakeOffWithoutRaisingThrottle = (1 << 1U),
IgnorePilotYaw = (1 << 2U),
AllowWeatherVaning = (1 << 7U),
};
bool option_is_enabled(Option option) const;
// Enter auto rtl pseudo mode
bool enter_auto_rtl(ModeReason reason);

18
ArduCopter/mode_auto.cpp
View File

@ -202,15 +202,23 @@ void ModeAuto::set_submode(SubMode new_submode)
}
}
bool ModeAuto::option_is_enabled(Option option) const
{
return ((copter.g2.auto_options & (uint32_t)option) != 0);
}
bool ModeAuto::allows_arming(AP_Arming::Method method) const
{
return ((copter.g2.auto_options & (uint32_t)Options::AllowArming) != 0) && !auto_RTL;
};
if (auto_RTL) {
return false;
}
return option_is_enabled(Option::AllowArming);
}
#if WEATHERVANE_ENABLED == ENABLED
bool ModeAuto::allows_weathervaning() const
{
return (copter.g2.auto_options & (uint32_t)Options::AllowWeatherVaning) != 0;
return option_is_enabled(Option::AllowWeatherVaning);
}
#endif
@ -638,7 +646,7 @@ void PayloadPlace::start_descent()
// returns true if pilot's yaw input should be used to adjust vehicle's heading
bool ModeAuto::use_pilot_yaw(void) const
{
const bool allow_yaw_option = (copter.g2.auto_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
const bool allow_yaw_option = !option_is_enabled(Option::IgnorePilotYaw);
const bool rtl_allow_yaw = (_mode == SubMode::RTL) && copter.mode_rtl.use_pilot_yaw();
const bool landing = _mode == SubMode::LAND;
return allow_yaw_option || rtl_allow_yaw || landing;
@ -1039,7 +1047,7 @@ void ModeAuto::takeoff_run()
{
// if the user doesn't want to raise the throttle we can set it automatically
// note that this can defeat the disarm check on takeoff
if ((copter.g2.auto_options & (int32_t)Options::AllowTakeOffWithoutRaisingThrottle) != 0) {
if (option_is_enabled(Option::AllowTakeOffWithoutRaisingThrottle)) {
copter.set_auto_armed(true);
}
auto_takeoff.run();