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Copter: simplify throttle-is-unlimited check 

Now not the same pattern as the other checks - but it is much shorter
This commit is contained in:
Peter Barker 2021-07-14 11:49:15 +10:00 committed by Andrew Tridgell
parent ce408ca58b
commit 9aa033d84a
2 changed files with 2 additions and 17 deletions
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1
ArduCopter/mode.h
View File

@ -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 {

18
ArduCopter/mode_throw.cpp
View File

@ -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