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RC_Channel: tidy RC option flag handling

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This commit is contained in:
Peter Barker 2019-03-29 21:27:27 +11:00 committed by Andrew Tridgell
parent 8808991638
commit bc2ede5582
3 changed files with 22 additions and 14 deletions
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4
libraries/RC_Channel/RC_Channel.cpp
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@ -126,9 +126,9 @@ RC_Channel::get_reverse(void) const
bool bool
RC_Channel::update(void) RC_Channel::update(void)
{ {
if (has_override() && !(*RC_Channels::options & RC_IGNORE_OVERRIDES)) { if (has_override() && !rc().ignore_overrides()) {
radio_in = override_value; radio_in = override_value;
} else if (!(*RC_Channels::options & RC_IGNORE_RECEIVER)) { } else if (!rc().ignore_receiver()) {
radio_in = hal.rcin->read(ch_in); radio_in = hal.rcin->read(ch_in);
} else { } else {
return false; return false;

30
libraries/RC_Channel/RC_Channel.h
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@ -16,12 +16,6 @@ public:
// Constructor // Constructor
RC_Channel(void); RC_Channel(void);
enum InputIgnore {
RC_IGNORE_RECEIVER = (1 << 0), // RC receiver modules
RC_IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
RC_IGNORE_FAILSAFE = (1 << 2), // ignore RC failsafe bits
};
enum ChannelType { enum ChannelType {
RC_CHANNEL_TYPE_ANGLE = 0, RC_CHANNEL_TYPE_ANGLE = 0,
RC_CHANNEL_TYPE_RANGE = 1, RC_CHANNEL_TYPE_RANGE = 1,
@ -200,6 +194,7 @@ protected:
// no action by default (e.g. Tracker, Sub, who do their own thing) // no action by default (e.g. Tracker, Sub, who do their own thing)
}; };
private: private:
// pwm is stored here // pwm is stored here
@ -335,10 +330,26 @@ public:
} }
// should we ignore RC failsafe bits from receivers? // should we ignore RC failsafe bits from receivers?
static bool ignore_rc_failsafe(void) { bool ignore_rc_failsafe(void) const {
return options && ((*options) & RC_Channel::RC_IGNORE_FAILSAFE) != 0; return _options & uint32_t(Option::IGNORE_FAILSAFE);
} }
bool ignore_overrides() const {
return _options & uint32_t(Option::IGNORE_OVERRIDES);
}
bool ignore_receiver() const {
return _options & uint32_t(Option::IGNORE_RECEIVER);
}
protected:
enum class Option {
IGNORE_RECEIVER = (1 << 0), // RC receiver modules
IGNORE_OVERRIDES = (1 << 1), // MAVLink overrides
IGNORE_FAILSAFE = (1 << 2), // ignore RC failsafe bits
};
private: private:
static RC_Channels *_singleton; static RC_Channels *_singleton;
// this static arrangement is to avoid static pointers in AP_Param tables // this static arrangement is to avoid static pointers in AP_Param tables
@ -346,7 +357,6 @@ private:
static bool has_new_overrides; static bool has_new_overrides;
static AP_Float *override_timeout; static AP_Float *override_timeout;
static AP_Int32 *options;
AP_Float _override_timeout; AP_Float _override_timeout;
AP_Int32 _options; AP_Int32 _options;

2
libraries/RC_Channel/RC_Channels.cpp
View File

@ -30,7 +30,6 @@ extern const AP_HAL::HAL& hal;
bool RC_Channels::has_new_overrides; bool RC_Channels::has_new_overrides;
AP_Float *RC_Channels::override_timeout; AP_Float *RC_Channels::override_timeout;
AP_Int32 *RC_Channels::options;
/* /*
channels group object constructor channels group object constructor
@ -38,7 +37,6 @@ AP_Int32 *RC_Channels::options;
RC_Channels::RC_Channels(void) RC_Channels::RC_Channels(void)
{ {
override_timeout = &_override_timeout; override_timeout = &_override_timeout;
options = &_options;
// set defaults from the parameter table // set defaults from the parameter table
AP_Param::setup_object_defaults(this, var_info); AP_Param::setup_object_defaults(this, var_info);