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Copter: use enum class for ArmingMethod and ArmingRequired

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This commit is contained in:
Peter Barker 2019-03-07 14:12:50 +11:00 committed by Peter Barker
parent 0dacf78c12
commit f189860162
7 changed files with 21 additions and 21 deletions
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8
ArduCopter/AP_Arming.cpp
View File

@ -16,7 +16,7 @@ void AP_Arming_Copter::update(void)
}
// performs pre-arm checks and arming checks
bool AP_Arming_Copter::all_checks_passing(ArmingMethod method)
bool AP_Arming_Copter::all_checks_passing(AP_Arming::Method method)
{
set_pre_arm_check(pre_arm_checks(true));
@ -443,7 +443,7 @@ bool AP_Arming_Copter::pre_arm_proximity_check(bool display_failure)
// arm_checks - perform final checks before arming
// always called just before arming. Return true if ok to arm
// has side-effect that logging is started
bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod method)
bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::Method method)
{
const AP_AHRS_NavEKF &ahrs = AP::ahrs_navekf();
@ -476,7 +476,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod
control_mode_t control_mode = copter.control_mode;
// always check if the current mode allows arming
if (!copter.flightmode->allows_arming(method == AP_Arming::ArmingMethod::MAVLINK)) {
if (!copter.flightmode->allows_arming(method == AP_Arming::Method::MAVLINK)) {
check_failed(ARMING_CHECK_NONE, display_failure, "Mode not armable");
return false;
}
@ -540,7 +540,7 @@ bool AP_Arming_Copter::arm_checks(bool display_failure, AP_Arming::ArmingMethod
}
// check throttle is not too high - skips checks if arming from GCS in Guided
if (!(method == AP_Arming::ArmingMethod::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
if (!(method == AP_Arming::Method::MAVLINK && (control_mode == GUIDED || control_mode == GUIDED_NOGPS))) {
// above top of deadband is too always high
if (copter.get_pilot_desired_climb_rate(copter.channel_throttle->get_control_in()) > 0.0f) {
check_failed(ARMING_CHECK_RC, display_failure, "%s too high", rc_item);

6
ArduCopter/AP_Arming.h
View File

@ -12,7 +12,7 @@ public:
{
// default REQUIRE parameter to 1 (Copter does not have an
// actual ARMING_REQUIRE parameter)
require.set_default(YES_MIN_PWM);
require.set_default((uint8_t)Required::YES_MIN_PWM);
}
/* Do not allow copies */
@ -20,7 +20,7 @@ public:
AP_Arming_Copter &operator=(const AP_Arming_Copter&) = delete;
void update(void);
bool all_checks_passing(ArmingMethod method);
bool all_checks_passing(AP_Arming::Method method);
bool rc_calibration_checks(bool display_failure) override;
@ -30,7 +30,7 @@ protected:
bool pre_arm_ekf_attitude_check();
bool pre_arm_terrain_check(bool display_failure);
bool pre_arm_proximity_check(bool display_failure);
bool arm_checks(bool display_failure, AP_Arming::ArmingMethod method);
bool arm_checks(bool display_failure, AP_Arming::Method method);
// NOTE! the following check functions *DO* call into AP_Arming:
bool ins_checks(bool display_failure) override;

2
ArduCopter/Copter.h
View File

@ -770,7 +770,7 @@ private:
// motors.cpp
void arm_motors_check();
void auto_disarm_check();
bool init_arm_motors(AP_Arming::ArmingMethod method, bool do_arming_checks=true);
bool init_arm_motors(AP_Arming::Method method, bool do_arming_checks=true);
void init_disarm_motors();
void motors_output();
void lost_vehicle_check();

4
ArduCopter/GCS_Mavlink.cpp
View File

@ -708,7 +708,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
if (is_equal(packet.param1,1.0f)) {
// attempt to arm and return success or failure
const bool do_arming_checks = !is_equal(packet.param2,magic_force_arm_value);
if (copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK, do_arming_checks)) {
if (copter.init_arm_motors(AP_Arming::Method::MAVLINK, do_arming_checks)) {
return MAV_RESULT_ACCEPTED;
}
} else if (is_zero(packet.param1)) {
@ -824,7 +824,7 @@ MAV_RESULT GCS_MAVLINK_Copter::handle_command_long_packet(const mavlink_command_
if (!copter.motors->armed()) {
// if disarmed, arm motors
copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
copter.init_arm_motors(AP_Arming::Method::MAVLINK);
} else if (copter.ap.land_complete) {
// if armed and landed, takeoff
if (copter.set_mode(LOITER, MODE_REASON_GCS_COMMAND)) {

2
ArduCopter/RC_Channel.cpp
View File

@ -404,7 +404,7 @@ void RC_Channel_Copter::do_aux_function(const aux_func_t ch_option, const aux_sw
// arm or disarm the vehicle
switch (ch_flag) {
case HIGH:
copter.init_arm_motors(AP_Arming::ArmingMethod::AUXSWITCH);
copter.init_arm_motors(AP_Arming::Method::AUXSWITCH);
// remember that we are using an arming switch, for use by set_throttle_zero_flag
copter.ap.armed_with_switch = true;
break;

10
ArduCopter/motors.cpp
View File

@ -14,8 +14,8 @@ void Copter::arm_motors_check()
static int16_t arming_counter;
// check if arming/disarm using rudder is allowed
AP_Arming::ArmingRudder arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::ARMING_RUDDER_DISABLED) {
AP_Arming::RudderArming arming_rudder = arming.get_rudder_arming_type();
if (arming_rudder == AP_Arming::RudderArming::IS_DISABLED) {
return;
}
@ -45,7 +45,7 @@ void Copter::arm_motors_check()
// arm the motors and configure for flight
if (arming_counter == ARM_DELAY && !motors->armed()) {
// reset arming counter if arming fail
if (!init_arm_motors(AP_Arming::ArmingMethod::RUDDER)) {
if (!init_arm_motors(AP_Arming::Method::RUDDER)) {
arming_counter = 0;
}
}
@ -58,7 +58,7 @@ void Copter::arm_motors_check()
}
// full left and rudder disarming is enabled
} else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::ARMING_RUDDER_ARMDISARM)) {
} else if ((yaw_in < -4000) && (arming_rudder == AP_Arming::RudderArming::ARMDISARM)) {
if (!flightmode->has_manual_throttle() && !ap.land_complete) {
arming_counter = 0;
return;
@ -133,7 +133,7 @@ void Copter::auto_disarm_check()
// init_arm_motors - performs arming process including initialisation of barometer and gyros
// returns false if arming failed because of pre-arm checks, arming checks or a gyro calibration failure
bool Copter::init_arm_motors(const AP_Arming::ArmingMethod method, const bool do_arming_checks)
bool Copter::init_arm_motors(const AP_Arming::Method method, const bool do_arming_checks)
{
static bool in_arm_motors = false;

10
ArduCopter/toy_mode.cpp
View File

@ -424,7 +424,7 @@ void ToyMode::update()
if (throttle_high_counter >= TOY_LAND_ARM_COUNT) {
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: throttle arm");
arm_check_compass();
if (!copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == LOITER) {
if (!copter.init_arm_motors(AP_Arming::Method::MAVLINK) && (flags & FLAG_UPGRADE_LOITER) && copter.control_mode == LOITER) {
/*
support auto-switching to ALT_HOLD, then upgrade to LOITER once GPS available
*/
@ -433,7 +433,7 @@ void ToyMode::update()
#if AC_FENCE == ENABLED
copter.fence.enable(false);
#endif
if (!copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK)) {
if (!copter.init_arm_motors(AP_Arming::Method::MAVLINK)) {
// go back to LOITER
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: ALT_HOLD arm failed");
set_and_remember_mode(LOITER, MODE_REASON_TMODE);
@ -625,7 +625,7 @@ void ToyMode::update()
#if AC_FENCE == ENABLED
copter.fence.enable(false);
#endif
if (copter.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK)) {
if (copter.init_arm_motors(AP_Arming::Method::MAVLINK)) {
load_test.running = true;
gcs().send_text(MAV_SEVERITY_INFO, "Tmode: load_test on");
} else {
@ -803,7 +803,7 @@ void ToyMode::action_arm(void)
// we want GPS and checks are passing, arm and enable fence
copter.fence.enable(true);
#endif
copter.init_arm_motors(AP_Arming::ArmingMethod::RUDDER);
copter.init_arm_motors(AP_Arming::Method::RUDDER);
if (!copter.motors->armed()) {
AP_Notify::events.arming_failed = true;
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: GPS arming failed");
@ -819,7 +819,7 @@ void ToyMode::action_arm(void)
// non-GPS mode
copter.fence.enable(false);
#endif
copter.init_arm_motors(AP_Arming::ArmingMethod::RUDDER);
copter.init_arm_motors(AP_Arming::Method::RUDDER);
if (!copter.motors->armed()) {
AP_Notify::events.arming_failed = true;
gcs().send_text(MAV_SEVERITY_ERROR, "Tmode: non-GPS arming failed");