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Copter: correct compilation with toymode enabled

This commit is contained in:
Peter Barker 2019-11-01 10:22:37 +11:00 committed by Andrew Tridgell
parent 9d8684203c
commit db48386463
2 changed files with 11 additions and 11 deletions
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20
ArduCopter/toy_mode.cpp
View File

@ -205,7 +205,7 @@ void ToyMode::update()
if (!done_first_update) { if (!done_first_update) {
done_first_update = true; 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)); 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 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"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: ALT_HOLD update arm");
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
copter.fence.enable(false); copter.fence.enable(false);
@ -436,7 +436,7 @@ void ToyMode::update()
if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) { if (!copter.arming.arm(AP_Arming::Method::MAVLINK)) {
// go back to LOITER // go back to LOITER
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed"); 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 { } else {
upgrade_to_loiter = true; upgrade_to_loiter = true;
#if 0 #if 0
@ -458,7 +458,7 @@ void ToyMode::update()
#if 0 #if 0
AP_Notify::flags.hybrid_loiter = false; AP_Notify::flags.hybrid_loiter = false;
#endif #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 #if AC_FENCE == ENABLED
copter.fence.enable(true); copter.fence.enable(true);
#endif #endif
@ -468,7 +468,7 @@ void ToyMode::update()
if (copter.control_mode == Mode::Number::RTL && (flags & FLAG_RTL_CANCEL) && throttle_near_max) { if (copter.control_mode == Mode::Number::RTL && (flags & FLAG_RTL_CANCEL) && throttle_near_max) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: RTL cancel"); 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; enum Mode::Number old_mode = copter.control_mode;
@ -619,9 +619,9 @@ void ToyMode::update()
load_test.running = false; load_test.running = false;
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test off"); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test off");
copter.init_disarm_motors(); 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 { } 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 #if AC_FENCE == ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #endif
@ -646,7 +646,7 @@ void ToyMode::update()
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
copter.fence.enable(false); copter.fence.enable(false);
#endif #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()); gcs().send_text(MAV_SEVERITY_INFO, "Tmode: mode %s", copter.flightmode->name4());
// force fence on in all GPS flight modes // force fence on in all GPS flight modes
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
@ -659,7 +659,7 @@ void ToyMode::update()
if (new_mode == Mode::Number::RTL) { if (new_mode == Mode::Number::RTL) {
// if we can't RTL then land // if we can't RTL then land
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: LANDING"); 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 AC_FENCE == ENABLED
if (copter.landing_with_GPS()) { if (copter.landing_with_GPS()) {
copter.fence.enable(true); 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 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) { if (copter.control_mode == mode) {
return true; return true;

2
ArduCopter/toy_mode.h
View File

@ -38,7 +38,7 @@ private:
void action_arm(void); void action_arm(void);
void blink_update(void); void blink_update(void);
void send_named_int(const char *name, int32_t value); 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 thrust_limiting(float *thrust, uint8_t num_motors);
void arm_check_compass(void); void arm_check_compass(void);