From 9aa033d84afb88fc93c041be195180865c264213 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Wed, 14 Jul 2021 11:49:15 +1000 Subject: [PATCH] Copter: simplify throttle-is-unlimited check Now not the same pattern as the other checks - but it is much shorter --- ArduCopter/mode.h | 1 - ArduCopter/mode_throw.cpp | 18 ++---------------- 2 files changed, 2 insertions(+), 17 deletions(-) diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 9bea00e4c1..c663529fcb 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -1468,7 +1468,6 @@ private: bool throw_position_good() const; bool throw_height_good() const; bool throw_attitude_good() const; - bool throttle_is_unlimited() const; // Throw stages enum ThrowModeStage { diff --git a/ArduCopter/mode_throw.cpp b/ArduCopter/mode_throw.cpp index 6a67665cc1..e0f68f4c6f 100644 --- a/ArduCopter/mode_throw.cpp +++ b/ArduCopter/mode_throw.cpp @@ -57,7 +57,8 @@ void ModeThrow::run() // Cancel the waiting for throw tone sequence AP_Notify::flags.waiting_for_throw = false; - } else if (stage == Throw_Wait_Throttle_Unlimited && throttle_is_unlimited()) { + } else if (stage == Throw_Wait_Throttle_Unlimited && + motors->get_spool_state() == AP_Motors::SpoolState::THROTTLE_UNLIMITED) { gcs().send_text(MAV_SEVERITY_INFO,"throttle is unlimited - uprighting"); stage = Throw_Uprighting; } else if (stage == Throw_Uprighting && throw_attitude_good()) { @@ -305,19 +306,4 @@ bool ModeThrow::throw_position_good() const return (pos_control->get_pos_error_xy_cm() < 50.0f); } -bool ModeThrow::throttle_is_unlimited() const -{ - switch (motors->get_spool_state()) { - case AP_Motors::SpoolState::SHUT_DOWN: - case AP_Motors::SpoolState::GROUND_IDLE: - case AP_Motors::SpoolState::SPOOLING_UP: - return false; - case AP_Motors::SpoolState::THROTTLE_UNLIMITED: - return true; - case AP_Motors::SpoolState::SPOOLING_DOWN: - return false; - } - // compiler ensures we never get here - return true; -} #endif