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Copter: correct GuidedOptions enum after peer review

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Co-authored-by: Peter Barker <pb-gh@barker.dropbear.id.au>
This commit is contained in:
Randy Mackay 2020-10-19 13:39:51 +09:00
parent 29fedff826
commit 9104b4800f
3 changed files with 5 additions and 6 deletions
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4
ArduCopter/Parameters.cpp
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@ -986,12 +986,12 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
#endif
#if MODE_GUIDED_ENABLED == ENABLED
// @Param: GUIDED_OPTIONS
// @Param: GUID_OPTIONS
// @DisplayName: Guided mode options
// @Description: Options that can be applied to change guided mode behaviour
// @Bitmask: 0:Allow Arming from Transmitter
// @User: Advanced
AP_GROUPINFO("GUIDED_OPTIONS", 41, ParametersG2, guided_options, 0),
AP_GROUPINFO("GUID_OPTIONS", 41, ParametersG2, guided_options, 0),
#endif
AP_GROUPEND

5
ArduCopter/mode.h
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@ -833,9 +833,9 @@ protected:
private:
// enum for GUIDED_OPTIONS parameter
// enum for GUID_OPTIONS parameter
enum class Options : int32_t {
AllowArmingFromTX = (1 << 0U),
AllowArmingFromTX = (1U << 0),
};
void pos_control_start();
@ -865,7 +865,6 @@ public:
bool requires_GPS() const override { return false; }
bool has_manual_throttle() const override { return false; }
bool allows_arming(bool from_gcs) const override { return from_gcs; }
bool is_autopilot() const override { return true; }
protected:

2
ArduCopter/mode_guided.cpp
View File

@ -89,7 +89,7 @@ bool ModeGuided::allows_arming(bool from_gcs) const
}
// optionally allow arming from the transmitter
return (copter.g2.guided_options & (int32_t)Options::AllowArmingFromTX) != 0;
return (copter.g2.guided_options & (uint32_t)Options::AllowArmingFromTX) != 0;
};
// do_user_takeoff_start - initialises waypoint controller to implement take-off