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Copter: use an enumeration for pre-throw motor state

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Peter Barker 2020-12-05 18:18:28 +11:00 committed by Andrew Tridgell
parent bd0dff1b0e
commit f4cbc50ba4
4 changed files with 9 additions and 4 deletions
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2
ArduCopter/Parameters.cpp
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@ -699,7 +699,7 @@ const AP_Param::Info Copter::var_info[] = {
// @Description: Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw. // @Description: Used by Throw mode. Controls whether motors will run at the speed set by MOT_SPIN_MIN or will be stopped when armed and waiting for the throw.
// @Values: 0:Stopped,1:Running // @Values: 0:Stopped,1:Running
// @User: Standard // @User: Standard
GSCALAR(throw_motor_start, "THROW_MOT_START", 0), GSCALAR(throw_motor_start, "THROW_MOT_START", (float)ModeThrow::PreThrowMotorState::STOPPED),
#endif #endif
// @Param: RTL_ALT_TYPE // @Param: RTL_ALT_TYPE

2
ArduCopter/Parameters.h
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@ -447,7 +447,7 @@ public:
AP_Int16 gcs_pid_mask; AP_Int16 gcs_pid_mask;
#if MODE_THROW_ENABLED == ENABLED #if MODE_THROW_ENABLED == ENABLED
AP_Int8 throw_motor_start; AP_Enum<ModeThrow::PreThrowMotorState> throw_motor_start;
#endif #endif
AP_Int8 rtl_alt_type; AP_Int8 rtl_alt_type;

5
ArduCopter/mode.h
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@ -1340,6 +1340,11 @@ public:
Drop = 1 Drop = 1
}; };
enum class PreThrowMotorState {
STOPPED = 0,
RUNNING = 1,
};
protected: protected:
const char *name() const override { return "THROW"; } const char *name() const override { return "THROW"; }

4
ArduCopter/mode_throw.cpp
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@ -108,7 +108,7 @@ void ModeThrow::run()
case Throw_Disarmed: case Throw_Disarmed:
// prevent motors from rotating before the throw is detected unless enabled by the user // prevent motors from rotating before the throw is detected unless enabled by the user
if (g.throw_motor_start == 1) { if (g.throw_motor_start == PreThrowMotorState::RUNNING) {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else { } else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);
@ -123,7 +123,7 @@ void ModeThrow::run()
case Throw_Detecting: case Throw_Detecting:
// prevent motors from rotating before the throw is detected unless enabled by the user // prevent motors from rotating before the throw is detected unless enabled by the user
if (g.throw_motor_start == 1) { if (g.throw_motor_start == PreThrowMotorState::RUNNING) {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::GROUND_IDLE);
} else { } else {
motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN); motors->set_desired_spool_state(AP_Motors::DesiredSpoolState::SHUT_DOWN);