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Copter: Change to Boolean value

This commit is contained in:
muramura 2023-09-24 17:59:17 +09:00 committed by Randy Mackay
parent 01eb0fd26d
commit f3914dfc16
2 changed files with 17 additions and 17 deletions
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28
ArduCopter/mode_autorotate.cpp
View File

@ -48,14 +48,14 @@ bool ModeAutorotate::init(bool ignore_checks)
gcs().send_text(MAV_SEVERITY_INFO, "Autorotation initiated"); gcs().send_text(MAV_SEVERITY_INFO, "Autorotation initiated");
// Set all intial flags to on // Set all intial flags to on
_flags.entry_initial = 1; _flags.entry_initial = true;
_flags.ss_glide_initial = 1; _flags.ss_glide_initial = true;
_flags.flare_initial = 1; _flags.flare_initial = true;
_flags.touch_down_initial = 1; _flags.touch_down_initial = true;
_flags.level_initial = 1; _flags.level_initial = true;
_flags.break_initial = 1; _flags.break_initial = true;
_flags.straight_ahead_initial = 1; _flags.straight_ahead_initial = true;
_flags.bail_out_initial = 1; _flags.bail_out_initial = true;
_msg_flags.bad_rpm = true; _msg_flags.bad_rpm = true;
// Setting default starting switches // Setting default starting switches
@ -114,7 +114,7 @@ void ModeAutorotate::run()
case Autorotation_Phase::ENTRY: case Autorotation_Phase::ENTRY:
{ {
// Entry phase functions to be run only once // Entry phase functions to be run only once
if (_flags.entry_initial == 1) { if (_flags.entry_initial == true) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "Entry Phase"); gcs().send_text(MAV_SEVERITY_INFO, "Entry Phase");
@ -130,7 +130,7 @@ void ModeAutorotate::run()
g2.arot.set_desired_fwd_speed(); g2.arot.set_desired_fwd_speed();
// Prevent running the initial entry functions again // Prevent running the initial entry functions again
_flags.entry_initial = 0; _flags.entry_initial = false;
} }
@ -160,7 +160,7 @@ void ModeAutorotate::run()
case Autorotation_Phase::SS_GLIDE: case Autorotation_Phase::SS_GLIDE:
{ {
// Steady state glide functions to be run only once // Steady state glide functions to be run only once
if (_flags.ss_glide_initial == 1) { if (_flags.ss_glide_initial == true) {
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
gcs().send_text(MAV_SEVERITY_INFO, "SS Glide Phase"); gcs().send_text(MAV_SEVERITY_INFO, "SS Glide Phase");
@ -177,7 +177,7 @@ void ModeAutorotate::run()
g2.arot.set_target_head_speed(_target_head_speed); g2.arot.set_target_head_speed(_target_head_speed);
// Prevent running the initial glide functions again // Prevent running the initial glide functions again
_flags.ss_glide_initial = 0; _flags.ss_glide_initial = false;
} }
// Run airspeed/attitude controller // Run airspeed/attitude controller
@ -202,7 +202,7 @@ void ModeAutorotate::run()
case Autorotation_Phase::BAIL_OUT: case Autorotation_Phase::BAIL_OUT:
{ {
if (_flags.bail_out_initial == 1) { if (_flags.bail_out_initial == true) {
// Functions and settings to be done once are done here. // Functions and settings to be done once are done here.
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
@ -243,7 +243,7 @@ void ModeAutorotate::run()
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::THROTTLE_UNLIMITED);
_flags.bail_out_initial = 0; _flags.bail_out_initial = false;
} }
if ((now - _bail_time_start_ms)/1000.0f >= BAILOUT_MOTOR_RAMP_TIME) { if ((now - _bail_time_start_ms)/1000.0f >= BAILOUT_MOTOR_RAMP_TIME) {

6
ArduCopter/toy_mode.cpp
View File

@ -890,9 +890,9 @@ void ToyMode::blink_update(void)
// let the TX know we are recording video // let the TX know we are recording video
uint32_t now = AP_HAL::millis(); uint32_t now = AP_HAL::millis();
if (now - last_video_ms < 1000) { if (now - last_video_ms < 1000) {
AP_Notify::flags.video_recording = 1; AP_Notify::flags.video_recording = true;
} else { } else {
AP_Notify::flags.video_recording = 0; AP_Notify::flags.video_recording = false;
} }
if (red_blink_count > 0 && green_blink_count > 0) { if (red_blink_count > 0 && green_blink_count > 0) {
@ -954,7 +954,7 @@ void ToyMode::handle_message(const mavlink_message_t &msg)
green_blink_count = 1; green_blink_count = 1;
last_video_ms = AP_HAL::millis(); last_video_ms = AP_HAL::millis();
// immediately update AP_Notify recording flag // immediately update AP_Notify recording flag
AP_Notify::flags.video_recording = 1; AP_Notify::flags.video_recording = true;
} else if (strncmp(m.name, "WIFICHAN", 10) == 0) { } else if (strncmp(m.name, "WIFICHAN", 10) == 0) {
#if HAL_RCINPUT_WITH_AP_RADIO #if HAL_RCINPUT_WITH_AP_RADIO
AP_Radio *radio = AP_Radio::get_singleton(); AP_Radio *radio = AP_Radio::get_singleton();