Copter: ModeGuided: add an option_is_enabled method, use it #27141
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Added a test for one of the options, others done my inspection only |
IamPete1
requested changes
May 27, 2024
ArduCopter/mode_guided.cpp
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| @@ -1009,7 +1014,7 @@ void ModeGuided::set_yaw_state(bool use_yaw, float yaw_cd, bool use_yaw_rate, fl | |||
| // returns true if pilot's yaw input should be used to adjust vehicle's heading | |||
| bool ModeGuided::use_pilot_yaw(void) const | |||
| { | |||
| return (copter.g2.guided_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0; | |||
| return option_is_enabled(Option::IgnorePilotYaw); | |||
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Suggested change
| return option_is_enabled(Option::IgnorePilotYaw); | |
| return !option_is_enabled(Option::IgnorePilotYaw); |
rmackay9
reviewed
May 28, 2024
rmackay9
reviewed
May 28, 2024
peterbarker
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feel free to merge after those couple of small fixes. |
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I've confirmed that using the |
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