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AP_Motors: If frame specification is FALSE, frame name is unsupported

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This commit is contained in:
muramura 2023-07-08 06:29:36 +09:00 committed by Randy Mackay
parent d5e72a5440
commit d5dd4151eb
1 changed files with 3 additions and 6 deletions
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9
libraries/AP_Motors/AP_MotorsMatrix.cpp
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@ -765,7 +765,6 @@ bool AP_MotorsMatrix::setup_quad_matrix(motor_frame_type frame_type)
break; break;
default: default:
// quad frame class does not support this frame type // quad frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
return false; return false;
} }
return true; return true;
@ -845,7 +844,6 @@ bool AP_MotorsMatrix::setup_hexa_matrix(motor_frame_type frame_type)
} }
default: default:
// hexa frame class does not support this frame type // hexa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
return false; return false;
} //hexa } //hexa
return true; return true;
@ -965,7 +963,6 @@ bool AP_MotorsMatrix::setup_octa_matrix(motor_frame_type frame_type)
} }
default: default:
// octa frame class does not support this frame type // octa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
return false; return false;
} // octa frame type } // octa frame type
return true; return true;
@ -1088,7 +1085,6 @@ bool AP_MotorsMatrix::setup_octaquad_matrix(motor_frame_type frame_type)
} }
default: default:
// octaquad frame class does not support this frame type // octaquad frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
return false; return false;
} //octaquad } //octaquad
return true; return true;
@ -1140,7 +1136,6 @@ bool AP_MotorsMatrix::setup_dodecahexa_matrix(motor_frame_type frame_type)
} }
default: default:
// dodeca-hexa frame class does not support this frame type // dodeca-hexa frame class does not support this frame type
_frame_type_string = "UNSUPPORTED";
return false; return false;
} //dodecahexa } //dodecahexa
return true; return true;
@ -1293,7 +1288,6 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
#endif //AP_MOTORS_FRAME_DECA_ENABLED #endif //AP_MOTORS_FRAME_DECA_ENABLED
default: default:
// matrix doesn't support the configured class // matrix doesn't support the configured class
_frame_class_string = "UNSUPPORTED";
success = false; success = false;
_mav_type = MAV_TYPE_GENERIC; _mav_type = MAV_TYPE_GENERIC;
break; break;
@ -1302,6 +1296,9 @@ void AP_MotorsMatrix::setup_motors(motor_frame_class frame_class, motor_frame_ty
// normalise factors to magnitude 0.5 // normalise factors to magnitude 0.5
normalise_rpy_factors(); normalise_rpy_factors();
if (!success) {
_frame_class_string = "UNSUPPORTED";
}
set_initialised_ok(success); set_initialised_ok(success);
} }