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Plane: use enum class for StickMixing

This commit is contained in:
Peter Barker 2021-11-03 09:57:51 +11:00 committed by Andrew Tridgell
parent 8b46ab66bd
commit 6a12d3f5d9
6 changed files with 14 additions and 14 deletions
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8
ArduPlane/Attitude.cpp
View File

@ -79,8 +79,8 @@ bool Plane::stick_mixing_enabled(void)
#endif
if (control_mode->does_auto_throttle() && plane.control_mode->does_auto_navigation()) {
// we're in an auto mode. Check the stick mixing flag
if (g.stick_mixing != STICK_MIXING_DISABLED &&
g.stick_mixing != STICK_MIXING_VTOL_YAW &&
if (g.stick_mixing != StickMixing::NONE &&
g.stick_mixing != StickMixing::VTOL_YAW &&
stickmixing &&
failsafe.state == FAILSAFE_NONE &&
!rc_failsafe_active()) {
@ -502,12 +502,12 @@ void Plane::stabilize()
}
#endif
} else {
if (allow_stick_mixing && g.stick_mixing == STICK_MIXING_FBW && control_mode != &mode_stabilize) {
if (allow_stick_mixing && g.stick_mixing == StickMixing::FBW && control_mode != &mode_stabilize) {
stabilize_stick_mixing_fbw();
}
stabilize_roll(speed_scaler);
stabilize_pitch(speed_scaler);
if (allow_stick_mixing && (g.stick_mixing == STICK_MIXING_DIRECT || control_mode == &mode_stabilize)) {
if (allow_stick_mixing && (g.stick_mixing == StickMixing::DIRECT || control_mode == &mode_stabilize)) {
stabilize_stick_mixing_direct();
}
stabilize_yaw(speed_scaler);

4
ArduPlane/GCS_Mavlink.cpp
View File

@ -79,8 +79,8 @@ MAV_MODE GCS_MAVLINK_Plane::base_mode() const
_base_mode |= MAV_MODE_FLAG_STABILIZE_ENABLED;
}
if (plane.g.stick_mixing != STICK_MIXING_DISABLED && plane.control_mode != &plane.mode_initializing) {
if ((plane.g.stick_mixing != STICK_MIXING_VTOL_YAW) || (plane.control_mode == &plane.mode_auto)) {
if (plane.g.stick_mixing != StickMixing::NONE && plane.control_mode != &plane.mode_initializing) {
if ((plane.g.stick_mixing != StickMixing::VTOL_YAW) || (plane.control_mode == &plane.mode_auto)) {
// all modes except INITIALISING have some form of manual
// override if stick mixing is enabled
_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED;

2
ArduPlane/Parameters.cpp
View File

@ -108,7 +108,7 @@ const AP_Param::Info Plane::var_info[] = {
// @Description: When enabled, this adds user stick input to the control surfaces in auto modes, allowing the user to have some degree of flight control without changing modes. There are two types of stick mixing available. If you set STICK_MIXING to 1 then it will use "fly by wire" mixing, which controls the roll and pitch in the same way that the FBWA mode does. This is the safest option if you usually fly ArduPlane in FBWA or FBWB mode. If you set STICK_MIXING to 2 then it will enable direct mixing mode, which is what the STABILIZE mode uses. That will allow for much more extreme maneuvers while in AUTO mode. If you set STICK_MIXING to 3 then it will apply to the yaw while in quadplane modes only, such as while doing an automatic VTOL takeoff or landing.
// @Values: 0:Disabled,1:FBWMixing,2:DirectMixing,3:VTOL Yaw only
// @User: Advanced
GSCALAR(stick_mixing, "STICK_MIXING", STICK_MIXING_FBW),
GSCALAR(stick_mixing, "STICK_MIXING", uint8_t(StickMixing::FBW)),
// @Param: TKOFF_THR_MINSPD
// @DisplayName: Takeoff throttle min speed

2
ArduPlane/Parameters.h
View File

@ -439,7 +439,7 @@ public:
AP_Int8 flap_2_percent;
AP_Int8 flap_2_speed;
AP_Int8 takeoff_flap_percent;
AP_Int8 stick_mixing;
AP_Enum<StickMixing> stick_mixing;
AP_Float takeoff_throttle_min_speed;
AP_Float takeoff_throttle_min_accel;
AP_Int8 takeoff_throttle_delay;

10
ArduPlane/defines.h
View File

@ -47,11 +47,11 @@ enum failsafe_action_long {
};
// type of stick mixing enabled
enum StickMixing {
STICK_MIXING_DISABLED = 0,
STICK_MIXING_FBW = 1,
STICK_MIXING_DIRECT = 2,
STICK_MIXING_VTOL_YAW = 3,
enum class StickMixing {
NONE = 0,
FBW = 1,
DIRECT = 2,
VTOL_YAW = 3,
};
enum ChannelMixing {

2
ArduPlane/quadplane.cpp
View File

@ -1144,7 +1144,7 @@ float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
return 0;
}
if ((plane.g.stick_mixing == STICK_MIXING_DISABLED) &&
if ((plane.g.stick_mixing == StickMixing::NONE) &&
(plane.control_mode == &plane.mode_qrtl ||
plane.control_mode->is_guided_mode() ||
in_vtol_auto())) {