From 9104b4800f7af72247402b6f87d701fa75ad5f47 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 19 Oct 2020 13:39:51 +0900 Subject: [PATCH] Copter: correct GuidedOptions enum after peer review Co-authored-by: Peter Barker --- ArduCopter/Parameters.cpp | 4 ++-- ArduCopter/mode.h | 5 ++--- ArduCopter/mode_guided.cpp | 2 +- 3 files changed, 5 insertions(+), 6 deletions(-) diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp index 6f9ba5bfbc..2c7254917c 100644 --- a/ArduCopter/Parameters.cpp +++ b/ArduCopter/Parameters.cpp @@ -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 diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h index 472c7a07f1..dd18799496 100644 --- a/ArduCopter/mode.h +++ b/ArduCopter/mode.h @@ -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: diff --git a/ArduCopter/mode_guided.cpp b/ArduCopter/mode_guided.cpp index 5a56bd7c8c..805329ad61 100644 --- a/ArduCopter/mode_guided.cpp +++ b/ArduCopter/mode_guided.cpp @@ -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