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ArduPlane: use enum-class for SRV_CHANNEL_LIMIT_TRIM and friends
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@peterbarker @tridge
peterbarker authored and tridge committed Nov 25, 2019
1 parent bd7dfd0 commit c93d17b
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Showing 4 changed files with 36 additions and 36 deletions.
42 changes: 21 additions & 21 deletions ArduPlane/afs_plane.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,17 +35,17 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, SERVO_MAX);
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
} else {
// use MIN
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
}
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
SRV_Channels::set_output_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);
}

plane.servos_output();
Expand All @@ -59,24 +59,24 @@ void AP_AdvancedFailsafe_Plane::terminate_vehicle(void)
void AP_AdvancedFailsafe_Plane::setup_IO_failsafe(void)
{
// all aux channels
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap_auto, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap_auto, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_flap, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::MAX);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::MAX);
if (plane.have_reverse_thrust()) {
// configured for reverse thrust, use TRIM
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::TRIM);
} else {
// normal throttle, use MIN
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::MIN);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::MIN);
}
SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_manual, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_none, SRV_Channel::Limit::TRIM);

if (plane.quadplane.available()) {
// setup AP_Motors outputs for failsafe
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2 changes: 1 addition & 1 deletion ArduPlane/mode_fbwa.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,7 +30,7 @@ void ModeFBWA::update()
// FBWA failsafe glide
plane.nav_roll_cd = 0;
plane.nav_pitch_cd = 0;
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::MIN);
}
if (plane.g.fbwa_tdrag_chan > 0) {
// check for the user enabling FBWA taildrag takeoff mode
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12 changes: 6 additions & 6 deletions ArduPlane/radio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@ void Plane::set_control_channels(void)
}

if (!arming.is_armed() && arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
}

if (!quadplane.enable) {
Expand Down Expand Up @@ -79,15 +79,15 @@ void Plane::init_rc_out_main()
SRV_Channels::set_trim_to_min_for(SRV_Channel::k_throttle);
}

SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::TRIM);
SRV_Channels::set_failsafe_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::TRIM);

// setup flight controller to output the min throttle when safety off if arming
// is setup for min on disarm
if (arming.arming_required() == AP_Arming::Required::YES_MIN_PWM) {
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::SRV_CHANNEL_LIMIT_TRIM:SRV_Channel::SRV_CHANNEL_LIMIT_MIN);
SRV_Channels::set_safety_limit(SRV_Channel::k_throttle, have_reverse_thrust()?SRV_Channel::Limit::TRIM:SRV_Channel::Limit::MIN);
}
}

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16 changes: 8 additions & 8 deletions ArduPlane/servos.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -430,9 +430,9 @@ void Plane::set_servos_controlled(void)

if (!hal.util->get_soft_armed()) {
if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttle, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttle, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
Expand Down Expand Up @@ -646,8 +646,8 @@ void Plane::servos_twin_engine_mix(void)
}
if (!hal.util->get_soft_armed()) {
if (arming.arming_required() == AP_Arming::Required::YES_ZERO_PWM) {
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleLeft, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_throttleRight, SRV_Channel::Limit::ZERO_PWM);
} else {
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleLeft, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_throttleRight, 0);
Expand Down Expand Up @@ -799,9 +799,9 @@ void Plane::set_servos(void)
SRV_Channels::set_output_scaled(SRV_Channel::k_elevator, 0);
SRV_Channels::set_output_scaled(SRV_Channel::k_rudder, 0);
} else if (landing.get_then_servos_neutral() == 2) {
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::SRV_CHANNEL_LIMIT_ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_aileron, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_elevator, SRV_Channel::Limit::ZERO_PWM);
SRV_Channels::set_output_limit(SRV_Channel::k_rudder, SRV_Channel::Limit::ZERO_PWM);
}
}

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