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AP_Periph: use enum-class for RangeFinder Status

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Peter Barker 2019-11-01 16:13:07 +11:00 committed by Peter Barker
parent b3f1fdf182
commit c51eed1f2a
1 changed files with 5 additions and 5 deletions
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10
Tools/AP_Periph/can.cpp
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@ -1310,21 +1310,21 @@ void AP_Periph_FW::can_rangefinder_update(void)
}
last_update_ms = now;
rangefinder.update();
RangeFinder::RangeFinder_Status status = rangefinder.status_orient(ROTATION_NONE);
if (status <= RangeFinder::RangeFinder_NoData) {
RangeFinder::Status status = rangefinder.status_orient(ROTATION_NONE);
if (status <= RangeFinder::Status::NoData) {
// don't send any data
return;
}
uint16_t dist_cm = rangefinder.distance_cm_orient(ROTATION_NONE);
uavcan_equipment_range_sensor_Measurement pkt {};
switch (status) {
case RangeFinder::RangeFinder_OutOfRangeLow:
case RangeFinder::Status::OutOfRangeLow:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_CLOSE;
break;
case RangeFinder::RangeFinder_OutOfRangeHigh:
case RangeFinder::Status::OutOfRangeHigh:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_TOO_FAR;
break;
case RangeFinder::RangeFinder_Good:
case RangeFinder::Status::Good:
pkt.reading_type = UAVCAN_EQUIPMENT_RANGE_SENSOR_MEASUREMENT_READING_TYPE_VALID_RANGE;
break;
default: