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AP_FrSky_Telem: removed use of pointer to control_mode

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it is an enum, and it is invalid to take a pointer to an enum as a
uint8_t*
This commit is contained in:
Andrew Tridgell 2016-08-10 08:27:33 +10:00
parent a5f20d8c44
commit f4d59d720a
2 changed files with 10 additions and 12 deletions
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14
libraries/AP_Frsky_Telem/AP_Frsky_Telem.cpp
View File

@ -49,7 +49,7 @@ AP_Frsky_Telem::AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, con
* init - perform required initialisation
* for Copter
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint8_t *control_mode, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing)
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
@ -76,8 +76,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
_ap.home_bearing = home_bearing;
}
_ap.control_mode = control_mode; // flight mode
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
@ -89,7 +87,7 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, const char *fi
* init - perform required initialisation
* for Plane and Rover
*/
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, uint8_t *control_mode)
void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager)
{
// check for protocol configured for a serial port - only the first serial port with one of these protocols will then run (cannot have FrSky on multiple serial ports)
if ((_port = serial_manager.find_serial(AP_SerialManager::SerialProtocol_FrSky_D, 0))) {
@ -98,8 +96,6 @@ void AP_Frsky_Telem::init(const AP_SerialManager &serial_manager, uint8_t *contr
_protocol = AP_SerialManager::SerialProtocol_FrSky_SPort; // FrSky SPort protocol (X-receivers)
}
_ap.control_mode = control_mode;
if (_port != NULL) {
hal.scheduler->register_io_process(FUNCTOR_BIND_MEMBER(&AP_Frsky_Telem::tick, void));
// we don't want flow control for either protocol
@ -297,7 +293,7 @@ void AP_Frsky_Telem::send_SPort(void)
send_uint32(DATA_ID_TEMP2, (uint16_t)(_ahrs.get_gps().num_sats() * 10 + _ahrs.get_gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
break;
case 1:
send_uint32(DATA_ID_TEMP1, (uint16_t)*_ap.control_mode); // send flight mode
send_uint32(DATA_ID_TEMP1, _ap.control_mode); // send flight mode
break;
}
if (_SPort.various_call++ > 1) _SPort.various_call = 0;
@ -321,7 +317,7 @@ void AP_Frsky_Telem::send_D(void)
if (now - _D.last_200ms_frame > 200) {
_D.last_200ms_frame = now;
send_uint16(DATA_ID_TEMP2, (uint16_t)(_ahrs.get_gps().num_sats() * 10 + _ahrs.get_gps().status())); // send GPS status and number of satellites as num_sats*10 + status (to fit into a uint8_t)
send_uint16(DATA_ID_TEMP1, (uint16_t)*_ap.control_mode); // send flight mode
send_uint16(DATA_ID_TEMP1, _ap.control_mode); // send flight mode
send_uint16(DATA_ID_FUEL, (uint16_t)roundf(_battery.capacity_remaining_pct())); // send battery remaining
send_uint16(DATA_ID_VFAS, (uint16_t)roundf(_battery.voltage() * 10.0f)); // send battery voltage
send_uint16(DATA_ID_CURRENT, (uint16_t)roundf(_battery.current_amps() * 10.0f)); // send current consumption
@ -660,7 +656,7 @@ uint32_t AP_Frsky_Telem::calc_ap_status(void)
uint32_t ap_status;
// control/flight mode number (limit to 31 (0x1F) since the value is stored on 5 bits)
ap_status = (uint8_t)(*_ap.control_mode & AP_CONTROL_MODE_LIMIT);
ap_status = (uint8_t)(_ap.control_mode & AP_CONTROL_MODE_LIMIT);
// simple/super simple modes flags
ap_status |= (uint8_t)(*_ap.value & AP_SSIMPLE_FLAGS)<<AP_SSIMPLE_OFFSET;
// land complete flag

8
libraries/AP_Frsky_Telem/AP_Frsky_Telem.h
View File

@ -117,11 +117,13 @@ public:
AP_Frsky_Telem(AP_AHRS &ahrs, const AP_BattMonitor &battery, const RangeFinder &rng);
// init - perform required initialisation
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint8_t *control_mode, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing);
void init(const AP_SerialManager &serial_manager, uint8_t *control_mode);
void init(const AP_SerialManager &serial_manager, const char *firmware_str, const char *frame_config_str, const uint8_t mav_type, AP_Float *fs_batt_voltage, AP_Float *fs_batt_mah, uint32_t *ap_value, uint32_t *control_sensors_present, uint32_t *control_sensors_enabled, uint32_t *control_sensors_health, int32_t *home_distance, int32_t *home_bearing);
void init(const AP_SerialManager &serial_manager);
// add statustext message to FrSky lib queue. This function is static so it can be called from any library.
static void queue_message(MAV_SEVERITY severity, const char *text);
void update_control_mode(uint8_t mode) { _ap.control_mode = mode; }
struct msg_t
{
mavlink_statustext_t data[MSG_BUFFER_LENGTH];
@ -147,7 +149,7 @@ private:
struct
{
uint8_t *control_mode;
uint8_t control_mode;
uint32_t *value;
uint32_t *control_sensors_present;
uint32_t *control_sensors_enabled;