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Plane: use enum class for ArmingMethod and ArmingRequired

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This commit is contained in:
Peter Barker 2019-03-07 14:12:56 +11:00 committed by Peter Barker
parent f189860162
commit ca7566fff9
8 changed files with 18 additions and 18 deletions
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4
ArduPlane/ArduPlane.cpp
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@ -281,7 +281,7 @@ void Plane::one_second_loop()
// update notify flags // update notify flags
AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false); AP_Notify::flags.pre_arm_check = arming.pre_arm_checks(false);
AP_Notify::flags.pre_arm_gps_check = true; 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 AP_TERRAIN_AVAILABLE
if (should_log(MASK_LOG_GPS)) { if (should_log(MASK_LOG_GPS)) {
@ -905,7 +905,7 @@ void Plane::disarm_if_autoland_complete()
{ {
if (landing.get_disarm_delay() > 0 && if (landing.get_disarm_delay() > 0 &&
!is_flying() && !is_flying() &&
arming.arming_required() != AP_Arming::NO && arming.arming_required() != AP_Arming::Required::NO &&
arming.is_armed()) { arming.is_armed()) {
/* we have auto disarm enabled. See if enough time has passed */ /* we have auto disarm enabled. See if enough time has passed */
if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) { if (millis() - auto_state.last_flying_ms >= landing.get_disarm_delay()*1000UL) {

2
ArduPlane/GCS_Mavlink.cpp
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@ -871,7 +871,7 @@ MAV_RESULT GCS_MAVLINK_Plane::handle_command_long_packet(const mavlink_command_l
if (is_equal(packet.param1,1.0f)) { if (is_equal(packet.param1,1.0f)) {
// run pre_arm_checks and arm_checks and display failures // run pre_arm_checks and arm_checks and display failures
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value); 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_ACCEPTED;
} }
return MAV_RESULT_FAILED; return MAV_RESULT_FAILED;

2
ArduPlane/Plane.h
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@ -925,7 +925,7 @@ private:
int8_t throttle_percentage(void); int8_t throttle_percentage(void);
void change_arm_state(void); void change_arm_state(void);
bool disarm_motors(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); bool auto_takeoff_check(void);
void takeoff_calc_roll(void); void takeoff_calc_roll(void);
void takeoff_calc_pitch(void); void takeoff_calc_pitch(void);

2
ArduPlane/RC_Channel.cpp
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@ -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 // arm or disarm the vehicle
switch (ch_flag) { switch (ch_flag) {
case HIGH: case HIGH:
plane.arm_motors(AP_Arming::ArmingMethod::AUXSWITCH, true); plane.arm_motors(AP_Arming::Method::AUXSWITCH, true);
break; break;
case MIDDLE: case MIDDLE:
// nothing // nothing

2
ArduPlane/quadplane.cpp
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@ -1179,7 +1179,7 @@ void QuadPlane::control_loiter()
float QuadPlane::get_pilot_input_yaw_rate_cds(void) const float QuadPlane::get_pilot_input_yaw_rate_cds(void) const
{ {
if (plane.get_throttle_input() <= 0 && !plane.auto_throttle_mode && 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 // the user may be trying to disarm
return 0; return 0;
} }

12
ArduPlane/radio.cpp
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@ -40,7 +40,7 @@ void Plane::set_control_channels(void)
SRV_Channels::set_angle(SRV_Channel::k_throttleRight, 100); 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); 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 // setup PX4 to output the min throttle when safety off if arming
// is setup for min on disarm // 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); 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() 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 //parameter disallows rudder arming/disabling
return; return;
} }
@ -146,14 +146,14 @@ void Plane::rudder_arm_disarm_check()
} }
} else { } else {
//time to arm! //time to arm!
arm_motors(AP_Arming::RUDDER); arm_motors(AP_Arming::Method::RUDDER);
rudder_arm_timer = 0; rudder_arm_timer = 0;
} }
} else { } else {
// not at full right rudder // not at full right rudder
rudder_arm_timer = 0; 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 // when armed and not flying, full left rudder starts disarming counter
if (channel_rudder->get_control_in() < -4000) { if (channel_rudder->get_control_in() < -4000) {
uint32_t now = millis(); uint32_t now = millis();

10
ArduPlane/servos.cpp
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@ -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)); constrain_int16(SRV_Channels::get_output_scaled(SRV_Channel::k_throttle), min_throttle, max_throttle));
if (!hal.util->get_soft_armed()) { 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_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_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, 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); throttle_right = constrain_float(throttle - 50 * rudder_dt, 0, 100);
} }
if (!hal.util->get_soft_armed()) { 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_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM); SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
} else { } else {
@ -687,18 +687,18 @@ void Plane::set_servos(void)
//Some ESCs get noisy (beep error msgs) if PWM == 0. //Some ESCs get noisy (beep error msgs) if PWM == 0.
//This little segment aims to avoid this. //This little segment aims to avoid this.
switch (arming.arming_required()) { switch (arming.arming_required()) {
case AP_Arming::NO: case AP_Arming::Required::NO:
//keep existing behavior: do nothing to radio_out //keep existing behavior: do nothing to radio_out
//(don't disarm throttle channel even if AP_Arming class is) //(don't disarm throttle channel even if AP_Arming class is)
break; 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_throttle, 0);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, 0); SRV_Channels::set_output_pwm(SRV_Channel::k_throttleRight, 0);
break; break;
case AP_Arming::YES_MIN_PWM: case AP_Arming::Required::YES_MIN_PWM:
default: default:
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0); SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);

2
ArduPlane/system.cpp
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@ -757,7 +757,7 @@ void Plane::change_arm_state(void)
/* /*
arm motors 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)) { if (!arming.arm(method, do_arming_checks)) {
return false; return false;