mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Thomas Watson
c6a9d385bd
This removes the need for the pointer to the first flight mode, and removes the undefined behavior resulting from indexing past that first flight mode and hoping the others follow (though this is unlikely to pose a problem in practice). Saves a few bytes of RAM and flash as the pointer is no longer needed and code is no longer necessary to set it up. Also fixes the bounds check condition of that array to match its size so there is no longer the possibility of indexing one past it.
78 lines
2.1 KiB
C++
78 lines
2.1 KiB
C++
#include "Sub.h"
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#include "RC_Channel_Sub.h"
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#include "config.h"
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// defining these two macros and including the RC_Channels_VarInfo
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// header defines the parameter information common to all vehicle
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// types
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#define RC_CHANNELS_SUBCLASS RC_Channels_Sub
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#define RC_CHANNEL_SUBCLASS RC_Channel_Sub
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#include <RC_Channel/RC_Channels_VarInfo.h>
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#if AP_SUB_RC_ENABLED
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int8_t RC_Channels_Sub::flight_mode_channel_number() const
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{
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return sub.g.flight_mode_chan.get();
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}
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void RC_Channel_Sub::mode_switch_changed(modeswitch_pos_t new_pos)
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{
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if (new_pos < 0 || (uint8_t)new_pos >= ARRAY_SIZE(sub.g.flight_modes)) {
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// should not have been called
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return;
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}
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if (!sub.set_mode((Mode::Number)sub.g.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
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return;
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}
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}
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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Sub::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
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{
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RC_Channel::init_aux_function(ch_option, ch_flag);
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}
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bool RC_Channels_Sub::in_rc_failsafe() const
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{
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return sub.failsafe.radio;
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}
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bool RC_Channels_Sub::has_valid_input() const
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{
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if (in_rc_failsafe()) {
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return false;
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}
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if (sub.failsafe.radio_counter != 0) {
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return false;
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}
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return RC_Channels::has_valid_input();
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}
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// do_aux_function - implement the function invoked by auxiliary switches
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bool RC_Channel_Sub::do_aux_function(const AuxFuncTrigger &trigger)
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{
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return RC_Channel::do_aux_function(trigger);
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}
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#else
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// note that this callback is not presently used on Plane:
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int8_t RC_Channels_Sub::flight_mode_channel_number() const
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{
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return 1; // sub does not have a flight mode channel
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}
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#endif
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// returns true if min throttle arming checks should be run
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bool RC_Channels_Sub::arming_check_throttle() const {
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if (sub.g.thr_arming_position == WITHIN_THR_TRIM && RC_Channels::arming_check_throttle()) {
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// center sprung/reversing throttle configured, dont run AP_Arming check for min position
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// Sub already checks this case in its own arming checks
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return false;
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}
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return RC_Channels::arming_check_throttle();
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}
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