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ArduCopter: rename 'enum aux_switch_pos_t' to 'enum class AuxSwitchPos'

This commit is contained in:
Peter Barker 2020-06-03 12:21:50 +10:00 committed by Peter Barker
parent ea03504af2
commit a629e91f30
2 changed files with 54 additions and 46 deletions
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92
ArduCopter/RC_Channel.cpp
View File

@ -63,7 +63,7 @@ RC_Channel * RC_Channels_Copter::get_arming_channel(void) const
}
// init_aux_switch_function - initialize aux functions
void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
// init channel options
switch(ch_option) {
@ -123,10 +123,10 @@ void RC_Channel_Copter::init_aux_function(const aux_func_t ch_option, const aux_
// do_aux_function_change_mode - change mode based on an aux switch
// being moved
void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
const aux_switch_pos_t ch_flag)
const AuxSwitchPos ch_flag)
{
switch(ch_flag) {
case HIGH: {
case AuxSwitchPos::HIGH: {
// engage mode (if not possible we remain in current flight mode)
const bool success = copter.set_mode(mode, ModeReason::RC_COMMAND);
if (copter.ap.initialised) {
@ -147,7 +147,7 @@ void RC_Channel_Copter::do_aux_function_change_mode(const Mode::Number mode,
}
}
void RC_Channel_Copter::do_aux_function_armdisarm(const aux_switch_pos_t ch_flag)
void RC_Channel_Copter::do_aux_function_armdisarm(const AuxSwitchPos ch_flag)
{
RC_Channel::do_aux_function_armdisarm(ch_flag);
if (copter.arming.is_armed()) {
@ -158,24 +158,28 @@ void RC_Channel_Copter::do_aux_function_armdisarm(const aux_switch_pos_t ch_flag
}
// do_aux_function - implement the function invoked by auxiliary switches
void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_switch_pos_t ch_flag)
void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const AuxSwitchPos ch_flag)
{
switch(ch_option) {
case AUX_FUNC::FLIP:
// flip if switch is on, positive throttle and we're actually flying
if (ch_flag == aux_switch_pos_t::HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
copter.set_mode(Mode::Number::FLIP, ModeReason::RC_COMMAND);
}
break;
case AUX_FUNC::SIMPLE_MODE:
// low = simple mode off, middle or high position turns simple mode on
copter.set_simple_mode(ch_flag == HIGH || ch_flag == MIDDLE);
copter.set_simple_mode(ch_flag == AuxSwitchPos::HIGH ||
ch_flag == AuxSwitchPos::MIDDLE);
break;
case AUX_FUNC::SUPERSIMPLE_MODE:
// low = simple mode off, middle = simple mode, high = super simple mode
copter.set_simple_mode(ch_flag);
// there is an assumption here that the ch_flag
// enumeration's values match the different sorts of
// simple mode used in set_simple_mode
copter.set_simple_mode((uint8_t)ch_flag);
break;
case AUX_FUNC::RTL:
@ -185,7 +189,9 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
break;
case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == HIGH) && (copter.control_mode <= Mode::Number::ACRO) && (copter.channel_throttle->get_control_in() == 0)) {
if ((ch_flag == AuxSwitchPos::HIGH) &&
(copter.control_mode <= Mode::Number::ACRO) &&
(copter.channel_throttle->get_control_in() == 0)) {
copter.save_trim();
}
break;
@ -193,7 +199,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::SAVE_WP:
#if MODE_AUTO_ENABLED == ENABLED
// save waypoint when switch is brought high
if (ch_flag == HIGH) {
if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {
// do not allow saving new waypoints while we're in auto or disarmed
if (copter.control_mode == Mode::Number::AUTO || !copter.motors->armed()) {
@ -251,7 +257,8 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::RANGEFINDER:
// enable or disable the rangefinder
#if RANGEFINDER_ENABLED == ENABLED
if ((ch_flag == HIGH) && copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
if ((ch_flag == AuxSwitchPos::HIGH) &&
copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
copter.rangefinder_state.enabled = true;
} else {
copter.rangefinder_state.enabled = false;
@ -262,15 +269,15 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::ACRO_TRAINER:
#if MODE_ACRO_ENABLED == ENABLED
switch(ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::OFF;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_OFF);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LEVELING;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LEVELING);
break;
case HIGH:
case AuxSwitchPos::HIGH:
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LIMITED;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LIMITED);
break;
@ -303,13 +310,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::PARACHUTE_ENABLE:
#if PARACHUTE == ENABLED
// Parachute enable/disable
copter.parachute.enabled(ch_flag == HIGH);
copter.parachute.enabled(ch_flag == AuxSwitchPos::HIGH);
#endif
break;
case AUX_FUNC::PARACHUTE_RELEASE:
#if PARACHUTE == ENABLED
if (ch_flag == HIGH) {
if (ch_flag == AuxSwitchPos::HIGH) {
copter.parachute_manual_release();
}
#endif
@ -319,15 +326,15 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#if PARACHUTE == ENABLED
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
copter.parachute.enabled(false);
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
copter.parachute.enabled(true);
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
break;
case HIGH:
case AuxSwitchPos::HIGH:
copter.parachute.enabled(true);
copter.parachute_manual_release();
break;
@ -337,24 +344,24 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::ATTCON_FEEDFWD:
// enable or disable feed forward
copter.attitude_control->bf_feedforward(ch_flag == HIGH);
copter.attitude_control->bf_feedforward(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::ATTCON_ACCEL_LIM:
// enable or disable accel limiting by restoring defaults
copter.attitude_control->accel_limiting(ch_flag == HIGH);
copter.attitude_control->accel_limiting(ch_flag == AuxSwitchPos::HIGH);
break;
case AUX_FUNC::RETRACT_MOUNT:
#if MOUNT == ENABLE
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
copter.camera_mount.set_mode(MAV_MOUNT_MODE_RETRACT);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
copter.camera_mount.set_mode_to_default();
break;
}
@ -366,10 +373,10 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// The interlock logic for ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH is handled
// in heli_update_rotor_speed_targets. Otherwise turn on when above low.
if (copter.motors->get_rsc_mode() != ROTOR_CONTROL_MODE_SPEED_PASSTHROUGH) {
copter.ap.motor_interlock_switch = (ch_flag == HIGH || ch_flag == MIDDLE);
copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
}
#else
copter.ap.motor_interlock_switch = (ch_flag == HIGH || ch_flag == MIDDLE);
copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
#endif
break;
@ -388,13 +395,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::PRECISION_LOITER:
#if PRECISION_LANDING == ENABLED && MODE_LOITER_ENABLED == ENABLED
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
copter.mode_loiter.set_precision_loiter_enabled(true);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
copter.mode_loiter.set_precision_loiter_enabled(false);
break;
}
@ -410,15 +417,15 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::INVERTED:
#if FRAME_CONFIG == HELI_FRAME
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
copter.motors->set_inverted_flight(true);
copter.attitude_control->set_inverted_flight(true);
copter.heli_flags.inverted_flight = true;
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
// nothing
break;
case LOW:
case AuxSwitchPos::LOW:
copter.motors->set_inverted_flight(false);
copter.attitude_control->set_inverted_flight(false);
copter.heli_flags.inverted_flight = false;
@ -430,12 +437,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::WINCH_ENABLE:
#if WINCH_ENABLED == ENABLED
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
// high switch maintains current position
copter.g2.winch.release_length(0.0f);
AP::logger().Write_Event(LogEvent::WINCH_LENGTH_CONTROL);
break;
default:
case AuxSwitchPos::MIDDLE:
case AuxSwitchPos::LOW:
// all other position relax winch
copter.g2.winch.relax();
AP::logger().Write_Event(LogEvent::WINCH_RELAXED);
@ -488,13 +496,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// initialize zigzag auto
copter.mode_zigzag.init_auto();
switch (ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
copter.mode_zigzag.save_or_move_to_destination(ModeZigZag::Destination::A);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
copter.mode_zigzag.return_to_manual_control(false);
break;
case HIGH:
case AuxSwitchPos::HIGH:
copter.mode_zigzag.save_or_move_to_destination(ModeZigZag::Destination::B);
break;
}
@ -536,7 +544,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::STANDBY: {
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
copter.standby_active = true;
AP::logger().Write_Event(LogEvent::STANDBY_ENABLE);
gcs().send_text(MAV_SEVERITY_INFO, "Stand By Enabled");
@ -552,13 +560,13 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case AUX_FUNC::SURFACE_TRACKING:
switch (ch_flag) {
case LOW:
case AuxSwitchPos::LOW:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::GROUND);
break;
case MIDDLE:
case AuxSwitchPos::MIDDLE:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::NONE);
break;
case HIGH:
case AuxSwitchPos::HIGH:
copter.surface_tracking.set_surface(Copter::SurfaceTracking::Surface::CEILING);
break;
}
@ -568,7 +576,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) {
switch (ch_flag) {
case HIGH:
case AuxSwitchPos::HIGH:
copter.mode_zigzag.run_auto();
break;
default:

8
ArduCopter/RC_Channel.h
View File

@ -11,14 +11,14 @@ public:
protected:
void init_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
void do_aux_function(aux_func_t ch_option, aux_switch_pos_t) override;
void init_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
void do_aux_function(aux_func_t ch_option, AuxSwitchPos) override;
private:
void do_aux_function_armdisarm(const aux_switch_pos_t ch_flag) override;
void do_aux_function_armdisarm(const AuxSwitchPos ch_flag) override;
void do_aux_function_change_mode(const Mode::Number mode,
const aux_switch_pos_t ch_flag);
const AuxSwitchPos ch_flag);
// called when the mode switch changes position:
void mode_switch_changed(modeswitch_pos_t new_pos) override;