Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

RC_Channel: remove intermediate option_is_enabled methods for RC_Channel

This commit is contained in:
Peter Barker 2023-06-11 15:13:42 +10:00 committed by Randy Mackay
parent 8dad537b6f
commit 7ccf8e62ce
2 changed files with 23 additions and 75 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/RC_Channel/RC_Channel.cpp
View File

@ -285,9 +285,9 @@ bool RC_Channel::get_reverse(void) const
// read input from hal.rcin or overrides
bool RC_Channel::update(void)
{
if (has_override() && !rc().ignore_overrides()) {
if (has_override() && !rc().option_is_enabled(RC_Channels::Option::IGNORE_OVERRIDES)) {
radio_in = override_value;
} else if (rc().has_had_rc_receiver() && !rc().ignore_receiver()) {
} else if (rc().has_had_rc_receiver() && !rc().option_is_enabled(RC_Channels::Option::IGNORE_RECEIVER)) {
radio_in = hal.rcin->read(ch_in);
} else {
return false;
@ -1656,7 +1656,7 @@ bool RC_Channel::read_3pos_switch(RC_Channel::AuxSwitchPos &ret) const
}
// switch is reversed if 'reversed' option set on channel and switches reverse is allowed by RC_OPTIONS
bool switch_reversed = reversed && rc().switch_reverse_allowed();
bool switch_reversed = reversed && rc().option_is_enabled(RC_Channels::Option::ALLOW_SWITCH_REV);
if (in < AUX_SWITCH_PWM_TRIGGER_LOW) {
ret = switch_reversed ? AuxSwitchPos::HIGH : AuxSwitchPos::LOW;

92
libraries/RC_Channel/RC_Channel.h
View File

@ -504,64 +504,29 @@ public:
}
}
// should we ignore RC failsafe bits from receivers?
bool ignore_rc_failsafe(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::IGNORE_FAILSAFE));
enum class Option {
IGNORE_RECEIVER = (1U << 0), // RC receiver modules
IGNORE_OVERRIDES = (1U << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1U << 2), // ignore RC failsafe bits
FPORT_PAD = (1U << 3), // pad fport telem output
LOG_RAW_DATA = (1U << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1U << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1U << 6), // skip the an arming checks for the roll/pitch/yaw channels
ALLOW_SWITCH_REV = (1U << 7), // honor the reversed flag on switches
CRSF_CUSTOM_TELEMETRY = (1U << 8), // use passthrough data for crsf telemetry
SUPPRESS_CRSF_MESSAGE = (1U << 9), // suppress CRSF mode/rate message for ELRS systems
MULTI_RECEIVER_SUPPORT = (1U << 10), // allow multiple receivers
USE_CRSF_LQ_AS_RSSI = (1U << 11), // returns CRSF link quality as RSSI value, instead of RSSI
CRSF_FM_DISARM_STAR = (1U << 12), // when disarmed, add a star at the end of the flight mode in CRSF telemetry
ELRS_420KBAUD = (1U << 13), // use 420kbaud for ELRS protocol
};
bool option_is_enabled(Option option) const {
return _options & uint32_t(option);
}
// should we add a pad byte to Fport data
bool fport_pad(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::FPORT_PAD));
}
// returns true if we should pass through data for crsf telemetry
bool crsf_custom_telemetry(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::CRSF_CUSTOM_TELEMETRY));
}
// should a channel reverse option affect aux switches
bool switch_reverse_allowed(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::ALLOW_SWITCH_REV));
}
bool ignore_overrides() const {
return _options & uint32_t(Option::IGNORE_OVERRIDES);
}
bool ignore_receiver() const {
return _options & uint32_t(Option::IGNORE_RECEIVER);
}
bool log_raw_data() const {
return _options & uint32_t(Option::LOG_DATA);
}
virtual bool arming_check_throttle() const {
return _options & uint32_t(Option::ARMING_CHECK_THROTTLE);
}
bool arming_skip_checks_rpy() const {
return _options & uint32_t(Option::ARMING_SKIP_CHECK_RPY);
}
bool suppress_crsf_message(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::SUPPRESS_CRSF_MESSAGE));
}
bool multiple_receiver_support() const {
return _options & uint32_t(Option::MULTI_RECEIVER_SUPPORT);
}
bool use_crsf_lq_as_rssi(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::USE_CRSF_LQ_AS_RSSI)) != 0;
}
bool crsf_fm_disarm_star(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::CRSF_FM_DISARM_STAR)) != 0;
}
bool use_420kbaud_for_elrs(void) const {
return get_singleton() != nullptr && (_options & uint32_t(Option::ELRS_420KBAUD)) != 0;
return option_is_enabled(Option::ARMING_CHECK_THROTTLE);
}
// returns true if overrides should time out. If true is returned
@ -626,23 +591,6 @@ public:
protected:
enum class Option {
IGNORE_RECEIVER = (1U << 0), // RC receiver modules
IGNORE_OVERRIDES = (1U << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1U << 2), // ignore RC failsafe bits
FPORT_PAD = (1U << 3), // pad fport telem output
LOG_DATA = (1U << 4), // log rc input bytes
ARMING_CHECK_THROTTLE = (1U << 5), // run an arming check for neutral throttle
ARMING_SKIP_CHECK_RPY = (1U << 6), // skip the an arming checks for the roll/pitch/yaw channels
ALLOW_SWITCH_REV = (1U << 7), // honor the reversed flag on switches
CRSF_CUSTOM_TELEMETRY = (1U << 8), // use passthrough data for crsf telemetry
SUPPRESS_CRSF_MESSAGE = (1U << 9), // suppress CRSF mode/rate message for ELRS systems
MULTI_RECEIVER_SUPPORT = (1U << 10), // allow multiple receivers
USE_CRSF_LQ_AS_RSSI = (1U << 11), // returns CRSF link quality as RSSI value, instead of RSSI
CRSF_FM_DISARM_STAR = (1U << 12), // when disarmed, add a star at the end of the flight mode in CRSF telemetry
ELRS_420KBAUD = (1U << 13), // use 420kbaud for ELRS protocol
};
void new_override_received() {
has_new_overrides = true;
_has_had_override = true;