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Plane: Soaring: Remove exit_mode argument from soaring_restore_mode.

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This commit is contained in:
Samuel Tabor 2020-09-09 11:30:13 +01:00 committed by Peter Barker
parent f6017d60bf
commit 87530c1b2b
2 changed files with 9 additions and 9 deletions
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2
ArduPlane/Plane.h
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@ -1068,7 +1068,7 @@ private:
#if SOARING_ENABLED == ENABLED
void update_soaring();
bool soaring_exit_heading_aligned() const;
void soaring_restore_mode(const char *reason, ModeReason modereason, Mode &exit_mode);
void soaring_restore_mode(const char *reason, ModeReason modereason);
#endif
// reverse_thrust.cpp

16
ArduPlane/soaring.cpp
View File

@ -120,20 +120,20 @@ void Plane::update_soaring() {
// Heading lined up and loiter status not good to continue. Need to restore previous mode.
switch (loiterStatus) {
case SoaringController::LoiterStatus::ALT_TOO_HIGH:
soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH, *previous_mode);
soaring_restore_mode("Too high", ModeReason::SOARING_ALT_TOO_HIGH);
break;
case SoaringController::LoiterStatus::ALT_TOO_LOW:
soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW, *previous_mode);
soaring_restore_mode("Too low", ModeReason::SOARING_ALT_TOO_LOW);
break;
default:
case SoaringController::LoiterStatus::THERMAL_WEAK:
soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED, *previous_mode);
soaring_restore_mode("Thermal ended", ModeReason::SOARING_THERMAL_ESTIMATE_DETERIORATED);
break;
case SoaringController::LoiterStatus::DRIFT_EXCEEDED:
soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED, *previous_mode);
soaring_restore_mode("Drifted too far", ModeReason::SOARING_DRIFT_EXCEEDED);
break;
case SoaringController::LoiterStatus::EXIT_COMMANDED:
soaring_restore_mode("Exit via RC switch", ModeReason::RC_COMMAND, *previous_mode);
soaring_restore_mode("Exit via RC switch", ModeReason::RC_COMMAND);
break;
} // switch loiterStatus
@ -165,10 +165,10 @@ bool Plane::soaring_exit_heading_aligned() const
return true;
}
void Plane::soaring_restore_mode(const char *reason, ModeReason modereason, Mode &exit_mode)
void Plane::soaring_restore_mode(const char *reason, ModeReason modereason)
{
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: %s, restoring %s", reason, exit_mode.name());
set_mode(exit_mode, modereason);
gcs().send_text(MAV_SEVERITY_INFO, "Soaring: %s, restoring %s", reason, previous_mode->name());
set_mode(*previous_mode, modereason);
}
#endif // SOARING_ENABLED