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AP_AdvancedFailsafe: cleanups for new naming

This commit is contained in:
Andrew Tridgell 2016-07-22 17:44:52 +10:00
parent cef4635ad9
commit 8163db1adb
2 changed files with 7 additions and 7 deletions
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6
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.cpp
View File

@ -170,7 +170,7 @@ AP_AdvancedFailsafe::check(AP_AdvancedFailsafe::control_mode mode, uint32_t last
// check if RC termination is enabled
// check for RC failure in manual mode or RC failure when AFS_RC_MANUAL is 0
if (_state != STATE_PREFLIGHT && !_terminate && _enable_RC_fs &&
(mode == OBC_MANUAL || mode == OBC_FBW || !_rc_term_manual_only) &&
(mode == AFS_MANUAL || mode == AFS_FBW || !_rc_term_manual_only) &&
_rc_fail_time_seconds > 0 &&
(AP_HAL::millis() - last_valid_rc_ms) > (_rc_fail_time_seconds * 1000.0f)) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "RC failure terminate");
@ -182,7 +182,7 @@ AP_AdvancedFailsafe::check(AP_AdvancedFailsafe::control_mode mode, uint32_t last
// receiver
if (_manual_pin != -1) {
hal.gpio->pinMode(_manual_pin, HAL_GPIO_OUTPUT);
hal.gpio->write(_manual_pin, mode==OBC_MANUAL);
hal.gpio->write(_manual_pin, mode==AFS_MANUAL);
}
uint32_t now = AP_HAL::millis();
@ -193,7 +193,7 @@ AP_AdvancedFailsafe::check(AP_AdvancedFailsafe::control_mode mode, uint32_t last
case STATE_PREFLIGHT:
// we startup in preflight mode. This mode ends when
// we first enter auto.
if (mode == OBC_AUTO) {
if (mode == AFS_AUTO) {
GCS_MAVLINK::send_statustext_all(MAV_SEVERITY_INFO, "Starting AFS_AUTO");
_state = STATE_AUTO;
}

8
libraries/AP_AdvancedFailsafe/AP_AdvancedFailsafe.h
View File

@ -34,9 +34,9 @@ class AP_AdvancedFailsafe
{
public:
enum control_mode {
OBC_MANUAL = 0,
OBC_FBW = 1,
OBC_AUTO = 2
AFS_MANUAL = 0,
AFS_FBW = 1,
AFS_AUTO = 2
};
enum state {
@ -134,4 +134,4 @@ private:
};
// map from ArduPlane control_mode to AP_AdvancedFailsafe::control_mode
#define OBC_MODE(control_mode) (auto_throttle_mode?AP_AdvancedFailsafe::OBC_AUTO:(control_mode==MANUAL?AP_AdvancedFailsafe::OBC_MANUAL:AP_AdvancedFailsafe::OBC_FBW))
#define AFS_MODE_PLANE(control_mode) (auto_throttle_mode?AP_AdvancedFailsafe::AFS_AUTO:(control_mode==MANUAL?AP_AdvancedFailsafe::AFS_MANUAL:AP_AdvancedFailsafe::AFS_FBW))