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Copter: cope with change in namespace of LogEvent enum

Browse Source 
Also move Acro Trainer types into an enum class as the global defines
interfere with the Event names.

Also eliminate the Log_Write_Event wrappers.
This commit is contained in:
Peter Barker 2019-10-25 17:06:05 +11:00 committed by Randy Mackay
parent daf071f7f6
commit e6c6189fe5
24 changed files with 86 additions and 99 deletions
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6
ArduCopter/AP_Arming.cpp
View File

@ -693,7 +693,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
if (!ahrs.home_is_set()) {
// Reset EKF altitude if home hasn't been set yet (we use EKF altitude as substitute for alt above home)
ahrs.resetHeightDatum();
AP::logger().Write_Event(DATA_EKF_ALT_RESET);
AP::logger().Write_Event(LogEvent::EKF_ALT_RESET);
// we have reset height, so arming height is zero
copter.arming_altitude_m = 0;
@ -728,7 +728,7 @@ bool AP_Arming_Copter::arm(const AP_Arming::Method method, const bool do_arming_
// finally actually arm the motors
copter.motors->armed(true);
AP::logger().Write_Event(DATA_ARMED);
AP::logger().Write_Event(LogEvent::ARMED);
// log flight mode in case it was changed while vehicle was disarmed
AP::logger().Write_Mode((uint8_t)copter.control_mode, copter.control_mode_reason);
@ -797,7 +797,7 @@ bool AP_Arming_Copter::disarm()
copter.set_land_complete(true);
copter.set_land_complete_maybe(true);
AP::logger().Write_Event(DATA_DISARMED);
AP::logger().Write_Event(LogEvent::DISARMED);
// send disarm command to motors
copter.motors->armed(false);

8
ArduCopter/AP_State.cpp
View File

@ -9,7 +9,7 @@ void Copter::set_auto_armed(bool b)
ap.auto_armed = b;
if(b){
Log_Write_Event(DATA_AUTO_ARMED);
AP::logger().Write_Event(LogEvent::AUTO_ARMED);
}
}
@ -24,18 +24,18 @@ void Copter::set_simple_mode(uint8_t b)
if (ap.simple_mode != b) {
switch (b) {
case 0:
Log_Write_Event(DATA_SET_SIMPLE_OFF);
AP::logger().Write_Event(LogEvent::SET_SIMPLE_OFF);
gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode off");
break;
case 1:
Log_Write_Event(DATA_SET_SIMPLE_ON);
AP::logger().Write_Event(LogEvent::SET_SIMPLE_ON);
gcs().send_text(MAV_SEVERITY_INFO, "SIMPLE mode on");
break;
case 2:
default:
// initialise super simple heading
update_super_simple_bearing(true);
Log_Write_Event(DATA_SET_SUPERSIMPLE_ON);
AP::logger().Write_Event(LogEvent::SET_SUPERSIMPLE_ON);
gcs().send_text(MAV_SEVERITY_INFO, "SUPERSIMPLE mode on");
break;
}

4
ArduCopter/Copter.cpp
View File

@ -428,7 +428,7 @@ void Copter::three_hz_loop()
void Copter::one_hz_loop()
{
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_AP_STATE, ap.value);
Log_Write_Data(LogDataID::AP_STATE, ap.value);
}
arming.update();
@ -498,7 +498,7 @@ void Copter::init_simple_bearing()
// log the simple bearing
if (should_log(MASK_LOG_ANY)) {
Log_Write_Data(DATA_INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
Log_Write_Data(LogDataID::INIT_SIMPLE_BEARING, ahrs.yaw_sensor);
}
}

11
ArduCopter/Copter.h
View File

@ -774,12 +774,11 @@ private:
void Log_Write_Attitude();
void Log_Write_EKF_POS();
void Log_Write_MotBatt();
void Log_Write_Event(Log_Event id);
void Log_Write_Data(uint8_t id, int32_t value);
void Log_Write_Data(uint8_t id, uint32_t value);
void Log_Write_Data(uint8_t id, int16_t value);
void Log_Write_Data(uint8_t id, uint16_t value);
void Log_Write_Data(uint8_t id, float value);
void Log_Write_Data(LogDataID id, int32_t value);
void Log_Write_Data(LogDataID id, uint32_t value);
void Log_Write_Data(LogDataID id, int16_t value);
void Log_Write_Data(LogDataID id, uint16_t value);
void Log_Write_Data(LogDataID id, float value);
void Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max);
void Log_Sensor_Health();
#if FRAME_CONFIG == HELI_FRAME

10
ArduCopter/GCS_Mavlink.cpp
View File

@ -720,11 +720,11 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
switch ((uint16_t)packet.param1) {
case PARACHUTE_DISABLE:
copter.parachute.enabled(false);
copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_ENABLE:
copter.parachute.enabled(true);
copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
return MAV_RESULT_ACCEPTED;
case PARACHUTE_RELEASE:
// treat as a manual release which performs some additional check of altitude
@ -758,17 +758,17 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
switch ((uint8_t)packet.param2) {
case WINCH_RELAXED:
copter.g2.winch.relax();
copter.Log_Write_Event(DATA_WINCH_RELAXED);
AP::logger().Write_Event(LogEvent::WINCH_RELAXED);
return MAV_RESULT_ACCEPTED;
case WINCH_RELATIVE_LENGTH_CONTROL: {
copter.g2.winch.release_length(packet.param3, fabsf(packet.param4));
copter.Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
AP::logger().Write_Event(LogEvent::WINCH_LENGTH_CONTROL);
return MAV_RESULT_ACCEPTED;
}
case WINCH_RATE_CONTROL:
if (fabsf(packet.param4) <= copter.g2.winch.get_rate_max()) {
copter.g2.winch.set_desired_rate(packet.param4);
copter.Log_Write_Event(DATA_WINCH_RATE_CONTROL);
AP::logger().Write_Event(LogEvent::WINCH_RATE_CONTROL);
return MAV_RESULT_ACCEPTED;
}
return MAV_RESULT_FAILED;

39
ArduCopter/Log.cpp
View File

@ -118,12 +118,6 @@ void Copter::Log_Write_MotBatt()
#endif
}
// Wrote an event packet
void Copter::Log_Write_Event(Log_Event id)
{
logger.Write_Event(id);
}
struct PACKED log_Data_Int16t {
LOG_PACKET_HEADER;
uint64_t time_us;
@ -133,13 +127,13 @@ struct PACKED log_Data_Int16t {
// Write an int16_t data packet
UNUSED_FUNCTION
void Copter::Log_Write_Data(uint8_t id, int16_t value)
void Copter::Log_Write_Data(LogDataID id, int16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -155,13 +149,13 @@ struct PACKED log_Data_UInt16t {
// Write an uint16_t data packet
UNUSED_FUNCTION
void Copter::Log_Write_Data(uint8_t id, uint16_t value)
void Copter::Log_Write_Data(LogDataID id, uint16_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt16t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT16_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -176,13 +170,13 @@ struct PACKED log_Data_Int32t {
};
// Write an int32_t data packet
void Copter::Log_Write_Data(uint8_t id, int32_t value)
void Copter::Log_Write_Data(LogDataID id, int32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Int32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_INT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -197,13 +191,13 @@ struct PACKED log_Data_UInt32t {
};
// Write a uint32_t data packet
void Copter::Log_Write_Data(uint8_t id, uint32_t value)
void Copter::Log_Write_Data(LogDataID id, uint32_t value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_UInt32t pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_UINT32_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -219,13 +213,13 @@ struct PACKED log_Data_Float {
// Write a float data packet
UNUSED_FUNCTION
void Copter::Log_Write_Data(uint8_t id, float value)
void Copter::Log_Write_Data(LogDataID id, float value)
{
if (should_log(MASK_LOG_ANY)) {
struct log_Data_Float pkt = {
LOG_PACKET_HEADER_INIT(LOG_DATA_FLOAT_MSG),
time_us : AP_HAL::micros64(),
id : id,
id : (uint8_t)id,
data_value : value
};
logger.WriteCriticalBlock(&pkt, sizeof(pkt));
@ -274,7 +268,7 @@ void Copter::Log_Sensor_Health()
// check primary GPS
if (sensor_health.primary_gps != gps.primary_sensor()) {
sensor_health.primary_gps = gps.primary_sensor();
Log_Write_Event(DATA_GPS_PRIMARY_CHANGED);
AP::logger().Write_Event(LogEvent::GPS_PRIMARY_CHANGED);
}
}
@ -513,12 +507,11 @@ void Copter::Log_Write_Performance() {}
void Copter::Log_Write_Attitude(void) {}
void Copter::Log_Write_EKF_POS() {}
void Copter::Log_Write_MotBatt() {}
void Copter::Log_Write_Event(Log_Event id) {}
void Copter::Log_Write_Data(uint8_t id, int32_t value) {}
void Copter::Log_Write_Data(uint8_t id, uint32_t value) {}
void Copter::Log_Write_Data(uint8_t id, int16_t value) {}
void Copter::Log_Write_Data(uint8_t id, uint16_t value) {}
void Copter::Log_Write_Data(uint8_t id, float value) {}
void Copter::Log_Write_Data(LogDataID id, int32_t value) {}
void Copter::Log_Write_Data(LogDataID id, uint32_t value) {}
void Copter::Log_Write_Data(LogDataID id, int16_t value) {}
void Copter::Log_Write_Data(LogDataID id, uint16_t value) {}
void Copter::Log_Write_Data(LogDataID id, float value) {}
void Copter::Log_Write_Parameter_Tuning(uint8_t param, float tuning_val, float tune_min, float tune_max) {}
void Copter::Log_Sensor_Health() {}
void Copter::Log_Write_Precland() {}

2
ArduCopter/Parameters.cpp
View File

@ -455,7 +455,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Type of trainer used in acro mode
// @Values: 0:Disabled,1:Leveling,2:Leveling and Limited
// @User: Advanced
GSCALAR(acro_trainer, "ACRO_TRAINER", ACRO_TRAINER_LIMITED),
GSCALAR(acro_trainer, "ACRO_TRAINER", (uint8_t)ModeAcro::Trainer::LIMITED),
// @Param: ACRO_RP_EXPO
// @DisplayName: Acro Roll/Pitch Expo

34
ArduCopter/RC_Channel.cpp
View File

@ -205,7 +205,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// only altitude will matter to the AP mission script for takeoff.
if (copter.mode_auto.mission.add_cmd(cmd)) {
// log event
copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
}
}
@ -223,7 +223,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// save command
if (copter.mode_auto.mission.add_cmd(cmd)) {
// log event
copter.Log_Write_Event(DATA_SAVEWP_ADD_WP);
AP::logger().Write_Event(LogEvent::SAVEWP_ADD_WP);
}
}
#endif
@ -250,16 +250,16 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
#if MODE_ACRO_ENABLED == ENABLED
switch(ch_flag) {
case LOW:
copter.g.acro_trainer = ACRO_TRAINER_DISABLED;
copter.Log_Write_Event(DATA_ACRO_TRAINER_DISABLED);
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::OFF;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_OFF);
break;
case MIDDLE:
copter.g.acro_trainer = ACRO_TRAINER_LEVELING;
copter.Log_Write_Event(DATA_ACRO_TRAINER_LEVELING);
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LEVELING;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LEVELING);
break;
case HIGH:
copter.g.acro_trainer = ACRO_TRAINER_LIMITED;
copter.Log_Write_Event(DATA_ACRO_TRAINER_LIMITED);
copter.g.acro_trainer = (uint8_t)ModeAcro::Trainer::LIMITED;
AP::logger().Write_Event(LogEvent::ACRO_TRAINER_LIMITED);
break;
}
#endif
@ -308,11 +308,11 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
switch (ch_flag) {
case LOW:
copter.parachute.enabled(false);
copter.Log_Write_Event(DATA_PARACHUTE_DISABLED);
AP::logger().Write_Event(LogEvent::PARACHUTE_DISABLED);
break;
case MIDDLE:
copter.parachute.enabled(true);
copter.Log_Write_Event(DATA_PARACHUTE_ENABLED);
AP::logger().Write_Event(LogEvent::PARACHUTE_ENABLED);
break;
case HIGH:
copter.parachute.enabled(true);
@ -371,10 +371,10 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// enable or disable AP_Avoidance
if (ch_flag == HIGH) {
copter.avoidance_adsb.enable();
copter.Log_Write_Event(DATA_AVOIDANCE_ADSB_ENABLE);
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_ENABLE);
} else {
copter.avoidance_adsb.disable();
copter.Log_Write_Event(DATA_AVOIDANCE_ADSB_DISABLE);
AP::logger().Write_Event(LogEvent::AVOIDANCE_ADSB_DISABLE);
}
#endif
break;
@ -444,12 +444,12 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
case HIGH:
// high switch maintains current position
copter.g2.winch.release_length(0.0f);
copter.Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
AP::logger().Write_Event(LogEvent::WINCH_LENGTH_CONTROL);
break;
default:
// all other position relax winch
copter.g2.winch.relax();
copter.Log_Write_Event(DATA_WINCH_RELAXED);
AP::logger().Write_Event(LogEvent::WINCH_RELAXED);
break;
}
#endif
@ -547,12 +547,12 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
switch (ch_flag) {
case HIGH:
copter.standby_active = true;
copter.Log_Write_Event(DATA_STANDBY_ENABLE);
AP::logger().Write_Event(LogEvent::STANDBY_ENABLE);
gcs().send_text(MAV_SEVERITY_INFO, "Stand By Enabled");
break;
default:
copter.standby_active = false;
copter.Log_Write_Event(DATA_STANDBY_DISABLE);
AP::logger().Write_Event(LogEvent::STANDBY_DISABLE);
gcs().send_text(MAV_SEVERITY_INFO, "Stand By Disabled");
break;
}
@ -586,7 +586,7 @@ void Copter::save_trim()
float roll_trim = ToRad((float)channel_roll->get_control_in()/100.0f);
float pitch_trim = ToRad((float)channel_pitch->get_control_in()/100.0f);
ahrs.add_trim(roll_trim, pitch_trim);
Log_Write_Event(DATA_SAVE_TRIM);
AP::logger().Write_Event(LogEvent::SAVE_TRIM);
gcs().send_text(MAV_SEVERITY_INFO, "Trim saved");
}

2
ArduCopter/commands.cpp
View File

@ -79,7 +79,7 @@ bool Copter::set_home(const Location& loc, bool lock)
// init inav and compass declination
if (!home_was_set) {
// record home is set
Log_Write_Event(DATA_SET_HOME);
AP::logger().Write_Event(LogEvent::SET_HOME);
#if MODE_AUTO_ENABLED == ENABLED
// log new home position which mission library will pull from ahrs

5
ArduCopter/defines.h
View File

@ -76,11 +76,6 @@ enum tuning_func {
TUNING_SYSTEM_ID_MAGNITUDE = 58 // magnitude of the system ID signal
};
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0
#define ACRO_TRAINER_LEVELING 1
#define ACRO_TRAINER_LIMITED 2
// Yaw behaviours during missions - possible values for WP_YAW_BEHAVIOR parameter
#define WP_YAW_BEHAVIOR_NONE 0 // auto pilot will never control yaw during missions or rtl (except for DO_CONDITIONAL_YAW command received)
#define WP_YAW_BEHAVIOR_LOOK_AT_NEXT_WP 1 // auto pilot will face next waypoint or home during rtl

2
ArduCopter/ekf_check.cpp
View File

@ -191,7 +191,7 @@ void Copter::check_ekf_reset()
if (new_ekfYawReset_ms != ekfYawReset_ms) {
attitude_control->inertial_frame_reset();
ekfYawReset_ms = new_ekfYawReset_ms;
Log_Write_Event(DATA_EKF_YAW_RESET);
AP::logger().Write_Event(LogEvent::EKF_YAW_RESET);
}
#if AP_AHRS_NAVEKF_AVAILABLE

4
ArduCopter/heli.cpp
View File

@ -173,9 +173,9 @@ void Copter::heli_update_rotor_speed_targets()
// when rotor_runup_complete changes to true, log event
if (!rotor_runup_complete_last && motors->rotor_runup_complete()){
Log_Write_Event(DATA_ROTOR_RUNUP_COMPLETE);
AP::logger().Write_Event(LogEvent::ROTOR_RUNUP_COMPLETE);
} else if (rotor_runup_complete_last && !motors->rotor_runup_complete()){
Log_Write_Event(DATA_ROTOR_SPEED_BELOW_CRITICAL);
AP::logger().Write_Event(LogEvent::ROTOR_SPEED_BELOW_CRITICAL);
}
rotor_runup_complete_last = motors->rotor_runup_complete();
}

6
ArduCopter/land_detector.cpp
View File

@ -102,9 +102,9 @@ void Copter::set_land_complete(bool b)
land_detector_count = 0;
if(b){
Log_Write_Event(DATA_LAND_COMPLETE);
AP::logger().Write_Event(LogEvent::LAND_COMPLETE);
} else {
Log_Write_Event(DATA_NOT_LANDED);
AP::logger().Write_Event(LogEvent::NOT_LANDED);
}
ap.land_complete = b;
@ -132,7 +132,7 @@ void Copter::set_land_complete_maybe(bool b)
return;
if (b) {
Log_Write_Event(DATA_LAND_COMPLETE_MAYBE);
AP::logger().Write_Event(LogEvent::LAND_COMPLETE_MAYBE);
}
ap.land_complete_maybe = b;
}

4
ArduCopter/landing_gear.cpp
View File

@ -21,9 +21,9 @@ void Copter::landinggear_update()
// send event message to datalog if status has changed
if (landinggear.deployed() != last_deploy_status) {
if (landinggear.deployed()) {
Log_Write_Event(DATA_LANDING_GEAR_DEPLOYED);
AP::logger().Write_Event(LogEvent::LANDING_GEAR_DEPLOYED);
} else {
Log_Write_Event(DATA_LANDING_GEAR_RETRACTED);
AP::logger().Write_Event(LogEvent::LANDING_GEAR_RETRACTED);
}
}

9
ArduCopter/mode.cpp
View File

@ -552,7 +552,7 @@ void Mode::land_run_horizontal_control()
// process pilot inputs
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
copter.Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
@ -569,7 +569,7 @@ void Mode::land_run_horizontal_control()
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {
if (!copter.ap.land_repo_active) {
copter.Log_Write_Event(DATA_LAND_REPO_ACTIVE);
AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
}
copter.ap.land_repo_active = true;
}
@ -765,11 +765,6 @@ GCS_Copter &Mode::gcs()
return copter.gcs();
}
void Mode::Log_Write_Event(Log_Event id)
{
return copter.logger.Write_Event(id);
}
void Mode::set_throttle_takeoff()
{
return copter.set_throttle_takeoff();

7
ArduCopter/mode.h
View File

@ -241,7 +241,6 @@ public:
bool set_mode(Mode::Number mode, ModeReason reason);
void set_land_complete(bool b);
GCS_Copter &gcs();
void Log_Write_Event(Log_Event id);
void set_throttle_takeoff(void);
float get_avoidance_adjusted_climbrate(float target_rate);
uint16_t get_pilot_speed_dn(void);
@ -257,6 +256,12 @@ public:
// inherit constructor
using Mode::Mode;
enum class Trainer {
OFF = 0,
LEVELING = 1,
LIMITED = 2,
};
virtual void run() override;
bool requires_GPS() const override { return false; }

6
ArduCopter/mode_acro.cpp
View File

@ -111,7 +111,7 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
// calculate earth frame rate corrections to pull the copter back to level while in ACRO mode
if (g.acro_trainer != ACRO_TRAINER_DISABLED) {
if (g.acro_trainer != (uint8_t)Trainer::OFF) {
// get attitude targets
const Vector3f att_target = attitude_control->get_att_target_euler_cd();
@ -128,7 +128,7 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
rate_ef_level.z = 0;
// Calculate angle limiting earth frame rate commands
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
const float angle_max = copter.aparm.angle_max;
if (roll_angle > angle_max){
rate_ef_level.x += AC_AttitudeControl::sqrt_controller(angle_max - roll_angle, g.acro_rp_p * 4.5, attitude_control->get_accel_roll_max(), G_Dt);
@ -147,7 +147,7 @@ void ModeAcro::get_pilot_desired_angle_rates(int16_t roll_in, int16_t pitch_in,
attitude_control->euler_rate_to_ang_vel(attitude_control->get_att_target_euler_cd()*radians(0.01f), rate_ef_level, rate_bf_level);
// combine earth frame rate corrections with rate requests
if (g.acro_trainer == ACRO_TRAINER_LIMITED) {
if (g.acro_trainer == (uint8_t)Trainer::LIMITED) {
rate_bf_request.x += rate_bf_level.x;
rate_bf_request.y += rate_bf_level.y;
rate_bf_request.z += rate_bf_level.z;

2
ArduCopter/mode_acro_heli.cpp
View File

@ -71,7 +71,7 @@ void ModeAcro_Heli::run()
// convert the input to the desired body frame rate
get_pilot_desired_angle_rates(channel_roll->get_control_in(), channel_pitch->get_control_in(), channel_yaw->get_control_in(), target_roll, target_pitch, target_yaw);
// only mimic flybar response when trainer mode is disabled
if (g.acro_trainer == ACRO_TRAINER_DISABLED) {
if ((Trainer)g.acro_trainer.get() == Trainer::OFF) {
// while landed always leak off target attitude to current attitude
if (copter.ap.land_complete) {
virtual_flybar(target_roll, target_pitch, target_yaw, 3.0f, 3.0f);

6
ArduCopter/mode_auto.cpp
View File

@ -1456,15 +1456,15 @@ void ModeAuto::do_winch(const AP_Mission::Mission_Command& cmd)
switch (cmd.content.winch.action) {
case WINCH_RELAXED:
g2.winch.relax();
Log_Write_Event(DATA_WINCH_RELAXED);
AP::logger().Write_Event(LogEvent::WINCH_RELAXED);
break;
case WINCH_RELATIVE_LENGTH_CONTROL:
g2.winch.release_length(cmd.content.winch.release_length, cmd.content.winch.release_rate);
Log_Write_Event(DATA_WINCH_LENGTH_CONTROL);
AP::logger().Write_Event(LogEvent::WINCH_LENGTH_CONTROL);
break;
case WINCH_RATE_CONTROL:
g2.winch.set_desired_rate(cmd.content.winch.release_rate);
Log_Write_Event(DATA_WINCH_RATE_CONTROL);
AP::logger().Write_Event(LogEvent::WINCH_RATE_CONTROL);
break;
default:
// do nothing

4
ArduCopter/mode_flip.cpp
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@ -79,7 +79,7 @@ bool ModeFlip::init(bool ignore_checks)
}
// log start of flip
Log_Write_Event(DATA_FLIP_START);
AP::logger().Write_Event(LogEvent::FLIP_START);
// capture current attitude which will be used during the FlipState::Recovery stage
const float angle_max = copter.aparm.angle_max;
@ -197,7 +197,7 @@ void ModeFlip::run()
copter.set_mode(Mode::Number::STABILIZE, ModeReason::UNKNOWN);
}
// log successful completion
Log_Write_Event(DATA_FLIP_END);
AP::logger().Write_Event(LogEvent::FLIP_END);
}
break;
}

2
ArduCopter/mode_land.cpp
View File

@ -91,7 +91,7 @@ void ModeLand::nogps_run()
// process pilot inputs
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
}

4
ArduCopter/mode_rtl.cpp
View File

@ -285,7 +285,7 @@ void ModeRTL::descent_run()
// process pilot's input
if (!copter.failsafe.radio) {
if ((g.throttle_behavior & THR_BEHAVE_HIGH_THROTTLE_CANCELS_LAND) != 0 && copter.rc_throttle_control_in_filter.get() > LAND_CANCEL_TRIGGER_THR){
Log_Write_Event(DATA_LAND_CANCELLED_BY_PILOT);
AP::logger().Write_Event(LogEvent::LAND_CANCELLED_BY_PILOT);
// exit land if throttle is high
if (!copter.set_mode(Mode::Number::LOITER, ModeReason::THROTTLE_LAND_ESCAPE)) {
copter.set_mode(Mode::Number::ALT_HOLD, ModeReason::THROTTLE_LAND_ESCAPE);
@ -302,7 +302,7 @@ void ModeRTL::descent_run()
// record if pilot has overridden roll or pitch
if (!is_zero(target_roll) || !is_zero(target_pitch)) {
if (!copter.ap.land_repo_active) {
copter.Log_Write_Event(DATA_LAND_REPO_ACTIVE);
AP::logger().Write_Event(LogEvent::LAND_REPO_ACTIVE);
}
copter.ap.land_repo_active = true;
}

4
ArduCopter/mode_zigzag.cpp
View File

@ -81,13 +81,13 @@ void ModeZigZag::save_or_move_to_destination(uint8_t dest_num)
dest_A.x = curr_pos.x;
dest_A.y = curr_pos.y;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point A stored");
copter.Log_Write_Event(DATA_ZIGZAG_STORE_A);
AP::logger().Write_Event(LogEvent::ZIGZAG_STORE_A);
} else {
// store point B
dest_B.x = curr_pos.x;
dest_B.y = curr_pos.y;
gcs().send_text(MAV_SEVERITY_INFO, "ZigZag: point B stored");
copter.Log_Write_Event(DATA_ZIGZAG_STORE_B);
AP::logger().Write_Event(LogEvent::ZIGZAG_STORE_B);
}
// if both A and B have been stored advance state
if (!dest_A.is_zero() && !dest_B.is_zero() && is_positive((dest_B - dest_A).length_squared())) {

4
ArduCopter/motors.cpp
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@ -166,10 +166,10 @@ void Copter::motors_output()
bool interlock = motors->armed() && !ap.in_arming_delay && (!ap.using_interlock || ap.motor_interlock_switch) && !SRV_Channels::get_emergency_stop();
if (!motors->get_interlock() && interlock) {
motors->set_interlock(true);
Log_Write_Event(DATA_MOTORS_INTERLOCK_ENABLED);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_ENABLED);
} else if (motors->get_interlock() && !interlock) {
motors->set_interlock(false);
Log_Write_Event(DATA_MOTORS_INTERLOCK_DISABLED);
AP::logger().Write_Event(LogEvent::MOTORS_INTERLOCK_DISABLED);
}
// send output signals to motors