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ArduSub: use ArmingMethod enumeration

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This commit is contained in:
Peter Barker 2018-06-25 12:06:17 +10:00 committed by Peter Barker
parent e400a0e351
commit 3cfdcb1f2c
4 changed files with 5 additions and 5 deletions
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2
ArduSub/GCS_Mavlink.cpp
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@ -928,7 +928,7 @@ void GCS_MAVLINK_Sub::handleMessage(mavlink_message_t* msg)
case MAV_CMD_COMPONENT_ARM_DISARM:
if (is_equal(packet.param1,1.0f)) {
// attempt to arm and return success or failure
if (sub.init_arm_motors(true)) {
if (sub.init_arm_motors(AP_Arming::ArmingMethod::MAVLINK)) {
result = MAV_RESULT_ACCEPTED;
}
} else if (is_zero(packet.param1)) {

2
ArduSub/Sub.h
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@ -601,7 +601,7 @@ private:
void update_surface_and_bottom_detector();
void set_surfaced(bool at_surface);
void set_bottomed(bool at_bottom);
bool init_arm_motors(bool arming_from_gcs);
bool init_arm_motors(AP_Arming::ArmingMethod method);
void init_disarm_motors();
void motors_output();
Vector3f pv_location_to_vector(const Location& loc);

4
ArduSub/joystick.cpp
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@ -130,11 +130,11 @@ void Sub::handle_jsbutton_press(uint8_t button, bool shift, bool held)
if (motors.armed()) {
init_disarm_motors();
} else {
init_arm_motors(true);
init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
}
break;
case JSButton::button_function_t::k_arm:
init_arm_motors(true);
init_arm_motors(AP_Arming::ArmingMethod::MAVLINK);
break;
case JSButton::button_function_t::k_disarm:
init_disarm_motors();

2
ArduSub/motors.cpp
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@ -8,7 +8,7 @@ void Sub::enable_motor_output()
// 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 Sub::init_arm_motors(bool arming_from_gcs)
bool Sub::init_arm_motors(AP_Arming::ArmingMethod method)
{
static bool in_arm_motors = false;