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Plane: use enum-class for RangeFinder Status

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Peter Barker 2019-11-01 16:14:01 +11:00 committed by Peter Barker
parent dfc8349866
commit 6cd4dfba2c
2 changed files with 3 additions and 3 deletions
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2
ArduPlane/Log.cpp
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@ -195,7 +195,7 @@ struct PACKED log_Sonar {
void Plane::Log_Write_Sonar() void Plane::Log_Write_Sonar()
{ {
uint16_t distance = 0; uint16_t distance = 0;
if (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) { if (rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) {
distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270); distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270);
} }

4
ArduPlane/altitude.cpp
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@ -129,7 +129,7 @@ float Plane::relative_ground_altitude(bool use_rangefinder_if_available)
} }
if (use_rangefinder_if_available && quadplane.in_vtol_land_final() && if (use_rangefinder_if_available && quadplane.in_vtol_land_final() &&
rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_OutOfRangeLow) { rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::OutOfRangeLow) {
// a special case for quadplane landing when rangefinder goes // a special case for quadplane landing when rangefinder goes
// below minimum. Consider our height above ground to be zero // below minimum. Consider our height above ground to be zero
return 0; return 0;
@ -613,7 +613,7 @@ void Plane::rangefinder_height_update(void)
{ {
float distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270)*0.01f; float distance = rangefinder.distance_cm_orient(ROTATION_PITCH_270)*0.01f;
if ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && ahrs.home_is_set()) { if ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) && ahrs.home_is_set()) {
if (!rangefinder_state.have_initial_reading) { if (!rangefinder_state.have_initial_reading) {
rangefinder_state.have_initial_reading = true; rangefinder_state.have_initial_reading = true;
rangefinder_state.initial_range = distance; rangefinder_state.initial_range = distance;