Copter: rename manual_flight_mode to mode_has_manual_throttle

This commit is contained in:
Randy Mackay 2015-01-21 19:57:02 +09:00
parent f225558dbd
commit 43ba94e99a
5 changed files with 9 additions and 9 deletions

View File

@ -1175,7 +1175,7 @@ void GCS_MAVLINK::handleMessage(mavlink_message_t* msg)
AP_Notify::flags.arming_failed = true; // init_arm_motors function will reset flag back to false
result = MAV_RESULT_UNSUPPORTED;
}
} else if (packet.param1 == 0.0f && (manual_flight_mode(control_mode) || ap.land_complete)) {
} else if (packet.param1 == 0.0f && (mode_has_manual_throttle(control_mode) || ap.land_complete)) {
init_disarm_motors();
result = MAV_RESULT_ACCEPTED;
} else {

View File

@ -30,7 +30,7 @@ void fence_check()
// disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
// don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
if (ap.land_complete || (manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
if (ap.land_complete || (mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio && ((fence.get_breaches() & AC_FENCE_TYPE_ALT_MAX)== 0))){
init_disarm_motors();
}else{
// if we are within 100m of the fence, RTL

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@ -215,7 +215,7 @@ static void exit_mode(uint8_t old_control_mode, uint8_t new_control_mode)
}
// smooth throttle transition when switching from manual to automatic flight modes
if (manual_flight_mode(old_control_mode) && !manual_flight_mode(new_control_mode) && motors.armed() && !ap.land_complete) {
if (mode_has_manual_throttle(old_control_mode) && !mode_has_manual_throttle(new_control_mode) && motors.armed() && !ap.land_complete) {
// this assumes all manual flight modes use get_pilot_desired_throttle to translate pilot input to output throttle
set_accel_throttle_I_from_pilot_throttle(get_pilot_desired_throttle(g.rc_3.control_in));
}
@ -246,8 +246,8 @@ static bool mode_requires_GPS(uint8_t mode) {
return false;
}
// manual_flight_mode - returns true if flight mode is completely manual (i.e. roll, pitch, yaw and throttle are controlled by pilot)
static bool manual_flight_mode(uint8_t mode) {
// mode_has_manual_throttle - returns true if the flight mode has a manual throttle (i.e. pilot directly controls throttle)
static bool mode_has_manual_throttle(uint8_t mode) {
switch(mode) {
case ACRO:
case STABILIZE:
@ -262,7 +262,7 @@ static bool manual_flight_mode(uint8_t mode) {
// mode_allows_arming - returns true if vehicle can be armed in the specified mode
// arming_from_gcs should be set to true if the arming request comes from the ground station
static bool mode_allows_arming(uint8_t mode, bool arming_from_gcs) {
if (manual_flight_mode(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
if (mode_has_manual_throttle(mode) || mode == LOITER || mode == ALT_HOLD || mode == POSHOLD || (arming_from_gcs && mode == GUIDED)) {
return true;
}
return false;

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@ -55,7 +55,7 @@ static void arm_motors_check()
// full left
}else if (tmp < -4000) {
if (!manual_flight_mode(control_mode) && !ap.land_complete) {
if (!mode_has_manual_throttle(control_mode) && !ap.land_complete) {
arming_counter = 0;
return;
}
@ -88,7 +88,7 @@ static void auto_disarm_check()
}
// allow auto disarm in manual flight modes or Loiter/AltHold if we're landed
if (manual_flight_mode(control_mode) || ap.land_complete) {
if (mode_has_manual_throttle(control_mode) || ap.land_complete) {
auto_disarming_counter++;
if(auto_disarming_counter >= AUTO_DISARMING_DELAY) {

View File

@ -368,7 +368,7 @@ static void update_auto_armed()
return;
}
// if in stabilize or acro flight mode and throttle is zero, auto-armed should become false
if(manual_flight_mode(control_mode) && ap.throttle_zero && !failsafe.radio) {
if(mode_has_manual_throttle(control_mode) && ap.throttle_zero && !failsafe.radio) {
set_auto_armed(false);
}
}else{