diff --git a/ArduPlane/ArduPlane.cpp b/ArduPlane/ArduPlane.cpp index 10e7727b59..114f602c19 100644 --- a/ArduPlane/ArduPlane.cpp +++ b/ArduPlane/ArduPlane.cpp @@ -281,7 +281,7 @@ void Plane::one_second_loop() // update notify flags AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); AP_Notify::flags.pre_arm_gps_check = true; - AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::NO; + AP_Notify::flags.armed = arming.is_armed() || arming.arming_required() == AP_Arming::Required::NO; #if AP_TERRAIN_AVAILABLE if (should_log(MASK_LOG_GPS)) { @@ -905,7 +905,7 @@ void Plane::disarm_if_autoland_complete() { if (landing.get_disarm_delay() > 0 && !is_flying() && - arming.arming_required() != AP_Arming::NO && + arming.arming_required() != AP_Arming::Required::NO && arming.is_armed()) { /* we have auto disarm enabled. See if enough time has passed */ if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) { diff --git a/ArduPlane/GCS_Mavlink.cpp b/ArduPlane/GCS_Mavlink.cpp index 0599b84eb9..fe254246f6 100644 --- a/ArduPlane/GCS_Mavlink.cpp +++ b/ArduPlane/GCS_Mavlink.cpp @@ -871,7 +871,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l if (is_equal(packet.param1,1.0f)) { // run pre_arm_checks and arm_checks and display failures const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value); - if (plane.arm_motors(AP_Arming::MAVLINK, do_arming_checks)) { + if (plane.arm_motors(AP_Arming::Method::MAVLINK, do_arming_checks)) { return MAV_RESULT_ACCEPTED; } return MAV_RESULT_FAILED; diff --git a/ArduPlane/Plane.h b/ArduPlane/Plane.h index 721bacf96a..825b0bba18 100644 --- a/ArduPlane/Plane.h +++ b/ArduPlane/Plane.h @@ -925,7 +925,7 @@ private: int8_t throttle_percentage(void); void change_arm_state(void); bool disarm_motors(void); - bool arm_motors(AP_Arming::ArmingMethod method, bool do_arming_checks=true); + bool arm_motors(AP_Arming::Method method, bool do_arming_checks=true); bool auto_takeoff_check(void); void takeoff_calc_roll(void); void takeoff_calc_pitch(void); diff --git a/ArduPlane/RC_Channel.cpp b/ArduPlane/RC_Channel.cpp index 616d40e6e0..6973580aa3 100644 --- a/ArduPlane/RC_Channel.cpp +++ b/ArduPlane/RC_Channel.cpp @@ -62,7 +62,7 @@ void RC_Channel_Plane::do_aux_function(const aux_func_t ch_option, const aux_swi // arm or disarm the vehicle switch (ch_flag) { case HIGH: - plane.arm_motors(AP_Arming::ArmingMethod::AUXSWITCH, true); + plane.arm_motors(AP_Arming::Method::AUXSWITCH, true); break; case MIDDLE: // nothing diff --git a/ArduPlane/quadplane.cpp b/ArduPlane/quadplane.cpp index 450f9b85aa..81c0f3885b 100644 --- a/ArduPlane/quadplane.cpp +++ b/ArduPlane/quadplane.cpp @@ -1179,7 +1179,7 @@ void QuadPlane::control_loiter() float QuadPlane::get_pilot_input_yaw_rate_cds(void) const { if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode && - plane.arming.get_rudder_arming_type() != AP_Arming::ARMING_RUDDER_DISABLED) { + plane.arming.get_rudder_arming_type() != AP_Arming::RudderArming::IS_DISABLED) { // the user may be trying to disarm return 0; } diff --git a/ArduPlane/radio.cpp b/ArduPlane/radio.cpp index 0d876dc42c..16e1ca0f68 100644 --- a/ArduPlane/radio.cpp +++ b/ArduPlane/radio.cpp @@ -40,7 +40,7 @@ void Plane::set_control_channels(void) SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100); } - if (!arming.is_armed() && arming.arming_required() == AP_Arming::YES_MIN_PWM) { + if (!arming.is_armed() && arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) { SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN); } @@ -86,7 +86,7 @@ void Plane::init_rc_out_main() // setup PX4 to output the min throttle when safety off if arming // is setup for min on disarm - if (arming.arming_required() == AP_Arming::YES_MIN_PWM) { + if (arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) { SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN); } } @@ -112,9 +112,9 @@ void Plane::init_rc_out_aux() */ void Plane::rudder_arm_disarm_check() { - AP_Arming::ArmingRudder arming_rudder = arming.get_rudder_arming_type(); + AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type(); - if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) { + if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) { //parameter disallows rudder arming/disabling return; } @@ -146,14 +146,14 @@ void Plane::rudder_arm_disarm_check() } } else { //time to arm! - arm_motors(AP_Arming::RUDDER); + arm_motors(AP_Arming::Method::RUDDER); rudder_arm_timer = 0; } } else { // not at full right rudder rudder_arm_timer = 0; } - } else if ((arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM) && !is_flying()) { + } else if ((arming_rudder == AP_Arming::RudderArming::ARMDISARM) && !is_flying()) { // when armed and not flying, full left rudder starts disarming counter if (channel_rudder->get_control_in() < -4000) { uint32_t now = millis(); diff --git a/ArduPlane/servos.cpp b/ArduPlane/servos.cpp index ca618bf2ec..d437658d1d 100644 --- a/ArduPlane/servos.cpp +++ b/ArduPlane/servos.cpp @@ -370,7 +370,7 @@ void Plane::set_servos_controlled(void) constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle)); if (!hal.util->get_soft_armed()) { - if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) { + if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) { SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); @@ -583,7 +583,7 @@ void Plane::servos_twin_engine_mix(void) throttle_right = constrain_float(throttle - 50 * rudder_dt, 0, 100); } if (!hal.util->get_soft_armed()) { - if (arming.arming_required() == AP_Arming::YES_ZERO_PWM) { + if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) { SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); } else { @@ -687,18 +687,18 @@ void Plane::set_servos(void) //Some ESCs get noisy (beep error msgs) if PWM == 0. //This little segment aims to avoid this. switch (arming.arming_required()) { - case AP_Arming::NO: + case AP_Arming::Required::NO: //keep existing behavior: do nothing to radio_out //(don't disarm throttle channel even if AP_Arming class is) break; - case AP_Arming::YES_ZERO_PWM: + case AP_Arming::Required::YES_ZERO_PWM: SRV_Channels::set_output_pwm(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, 0); break; - case AP_Arming::YES_MIN_PWM: + case AP_Arming::Required::YES_MIN_PWM: default: SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0); diff --git a/ArduPlane/system.cpp b/ArduPlane/system.cpp index 957e109046..401a82ba6e 100644 --- a/ArduPlane/system.cpp +++ b/ArduPlane/system.cpp @@ -757,7 +757,7 @@ void Plane::change_arm_state(void) /* arm motors */ -bool Plane::arm_motors(const AP_Arming::ArmingMethod method, const bool do_arming_checks) +bool Plane::arm_motors(const AP_Arming::Method method, const bool do_arming_checks) { if (!arming.arm(method, do_arming_checks)) { return false;