From db483864636e54e01514852aef968a4616016de8 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Fri, 1 Nov 2019 10:22:37 +1100 Subject: [PATCH] Copter: correct compilation with toymode enabled --- ArduCopter/toy_mode.cpp | 20 ++++++++++---------- ArduCopter/toy_mode.h | 2 +- 2 files changed, 11 insertions(+), 11 deletions(-) diff --git a/ArduCopter/toy_mode.cpp b/ArduCopter/toy_mode.cpp index 04ccc97957..1ec3f383ca 100644 --- a/ArduCopter/toy_mode.cpp +++ b/ArduCopter/toy_mode.cpp @@ -205,7 +205,7 @@ void ToyMode::update() if (!done_first_update) { done_first_update = true; - copter.set_mode(Mode::Number(primary_mode[0].get()), MODE_REASON_TMODE); + copter.set_mode(Mode::Number(primary_mode[0].get()), ModeReason::TOY_MODE); copter.motors->set_thrust_compensation_callback(FUNCTOR_BIND_MEMBER(&ToyMode::thrust_limiting, void, float *, uint8_t)); } @@ -428,7 +428,7 @@ void ToyMode::update() /* support auto-switching to ALT_HOLD, then upgrade to LOITER once GPS available */ - if (set_and_remember_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE)) { + if (set_and_remember_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE)) { gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm"); #if AC_FENCE == ENABLED copter.fence.enable(false); @@ -436,7 +436,7 @@ void ToyMode::update() if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) { // go back to LOITER gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed"); - set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE); + set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE); } else { upgrade_to_loiter = true; #if 0 @@ -458,7 +458,7 @@ void ToyMode::update() #if 0 AP_Notify::flags.hybrid_loiter = false; #endif - } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE)) { + } else if (copter.position_ok() && set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE)) { #if AC_FENCE == ENABLED copter.fence.enable(true); #endif @@ -468,7 +468,7 @@ void ToyMode::update() if (copter.control_mode == Mode::Number::RTL && (flags & FLAG_RTL_CANCEL) && throttle_near_max) { gcs().send_text(MAV_SEVERITY_INFO, "Tmode: RTL cancel"); - set_and_remember_mode(Mode::Number::LOITER, MODE_REASON_TMODE); + set_and_remember_mode(Mode::Number::LOITER, ModeReason::TOY_MODE); } enum Mode::Number old_mode = copter.control_mode; @@ -619,9 +619,9 @@ void ToyMode::update() load_test.running = false; gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test off"); copter.init_disarm_motors(); - copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE); + copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE); } else { - copter.set_mode(Mode::Number::ALT_HOLD, MODE_REASON_TMODE); + copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::TOY_MODE); #if AC_FENCE == ENABLED copter.fence.enable(false); #endif @@ -646,7 +646,7 @@ void ToyMode::update() #if AC_FENCE == ENABLED copter.fence.enable(false); #endif - if (set_and_remember_mode(new_mode, MODE_REASON_TX_COMMAND)) { + if (set_and_remember_mode(new_mode, ModeReason::TOY_MODE)) { gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4()); // force fence on in all GPS flight modes #if AC_FENCE == ENABLED @@ -659,7 +659,7 @@ void ToyMode::update() if (new_mode == Mode::Number::RTL) { // if we can't RTL then land gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING"); - set_and_remember_mode(Mode::Number::LAND, MODE_REASON_TMODE); + set_and_remember_mode(Mode::Number::LAND, ModeReason::TOY_MODE); #if AC_FENCE == ENABLED if (copter.landing_with_GPS()) { copter.fence.enable(true); @@ -674,7 +674,7 @@ void ToyMode::update() /* set a mode, remembering what mode we set, and the previous mode we were in */ -bool ToyMode::set_and_remember_mode(Mode::Number mode, mode_reason_t reason) +bool ToyMode::set_and_remember_mode(Mode::Number mode, ModeReason reason) { if (copter.control_mode == mode) { return true; diff --git a/ArduCopter/toy_mode.h b/ArduCopter/toy_mode.h index e0a32f55e8..f955462b91 100644 --- a/ArduCopter/toy_mode.h +++ b/ArduCopter/toy_mode.h @@ -38,7 +38,7 @@ private: void action_arm(void); void blink_update(void); void send_named_int(const char *name, int32_t value); - bool set_and_remember_mode(Mode::Number mode, mode_reason_t reason); + bool set_and_remember_mode(Mode::Number mode, ModeReason reason); void thrust_limiting(float *thrust, uint8_t num_motors); void arm_check_compass(void);