Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Copter: use enum-class and AP_Enum for ThrowType

This commit is contained in:
Peter Barker 2020-12-05 18:10:00 +11:00 committed by Andrew Tridgell
parent de2802e322
commit bd0dff1b0e
4 changed files with 7 additions and 7 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
ArduCopter/Parameters.cpp
View File

@ -757,7 +757,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
// @Description: Used by Throw mode. Specifies whether Copter is thrown upward or dropped.
// @Values: 0:Upward Throw,1:Drop
// @User: Standard
AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ModeThrow::ThrowType_Upward),
AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, (float)ModeThrow::ThrowType::Upward),
#endif
// @Param: GND_EFFECT_COMP

2
ArduCopter/Parameters.h
View File

@ -497,7 +497,7 @@ public:
#if MODE_THROW_ENABLED == ENABLED
// Throw mode parameters
AP_Int8 throw_nextmode;
AP_Int8 throw_type;
AP_Enum<ModeThrow::ThrowType> throw_type;
#endif
// ground effect compensation enable/disable

6
ArduCopter/mode.h
View File

@ -1335,9 +1335,9 @@ public:
bool is_autopilot() const override { return false; }
// Throw types
enum ThrowModeType {
ThrowType_Upward = 0,
ThrowType_Drop = 1
enum class ThrowType {
Upward = 0,
Drop = 1
};
protected:

4
ArduCopter/mode_throw.cpp
View File

@ -60,7 +60,7 @@ void ModeThrow::run()
// initialise the demanded height to 3m above the throw height
// we want to rapidly clear surrounding obstacles
if (g2.throw_type == ThrowType_Drop) {
if (g2.throw_type == ThrowType::Drop) {
pos_control->set_alt_target(inertial_nav.get_altitude() - 100);
} else {
pos_control->set_alt_target(inertial_nav.get_altitude() + 300);
@ -244,7 +244,7 @@ bool ModeThrow::throw_detected()
// check for upwards or downwards trajectory (airdrop) of 50cm/s
bool changing_height;
if (g2.throw_type == ThrowType_Drop) {
if (g2.throw_type == ThrowType::Drop) {
changing_height = inertial_nav.get_velocity().z < -THROW_VERTICAL_SPEED;
} else {
changing_height = inertial_nav.get_velocity().z > THROW_VERTICAL_SPEED;