mirror of
https://github.com/ArduPilot/ardupilot.git
synced 2026-10-06 19:00:27 +08:00
Thomas Watson
96e5a474f5
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.
122 lines
3.3 KiB
C++
122 lines
3.3 KiB
C++
#include "Blimp.h"
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#include "RC_Channel_Blimp.h"
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// defining these two macros and including the RC_Channels_VarInfo header defines the parameter information common to all vehicle types
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#define RC_CHANNELS_SUBCLASS RC_Channels_Blimp
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#define RC_CHANNEL_SUBCLASS RC_Channel_Blimp
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#include <RC_Channel/RC_Channels_VarInfo.h>
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int8_t RC_Channels_Blimp::flight_mode_channel_number() const
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{
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return blimp.g.flight_mode_chan.get();
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}
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void RC_Channel_Blimp::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(blimp.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 (!blimp.set_mode((Mode::Number)blimp.g.flight_modes[new_pos].get(), ModeReason::RC_COMMAND)) {
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// alert user to mode change failure
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if (blimp.ap.initialised) {
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AP_Notify::events.user_mode_change_failed = 1;
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}
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return;
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}
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// play a tone
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// alert user to mode change (except if autopilot is just starting up)
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if (blimp.ap.initialised) {
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AP_Notify::events.user_mode_change = 1;
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}
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}
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bool RC_Channels_Blimp::in_rc_failsafe() const
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{
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return blimp.failsafe.radio;
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}
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bool RC_Channels_Blimp::has_valid_input() const
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{
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if (blimp.failsafe.radio) {
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return false;
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}
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if (blimp.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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RC_Channel * RC_Channels_Blimp::get_arming_channel(void) const
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{
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return blimp.channel_yaw;
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}
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// init_aux_switch_function - initialize aux functions
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void RC_Channel_Blimp::init_aux_function(const AUX_FUNC ch_option, const AuxSwitchPos ch_flag)
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{
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// init channel options
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switch (ch_option) {
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// the following functions do not need to be initialised:
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case AUX_FUNC::MANUAL:
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break;
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default:
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RC_Channel::init_aux_function(ch_option, ch_flag);
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break;
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}
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}
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// do_aux_function_change_mode - change mode based on an aux switch
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// being moved
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void RC_Channel_Blimp::do_aux_function_change_mode(const Mode::Number mode,
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const AuxSwitchPos ch_flag)
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{
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switch (ch_flag) {
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case AuxSwitchPos::HIGH: {
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// engage mode (if not possible we remain in current flight mode)
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const bool success = blimp.set_mode(mode, ModeReason::AUX_FUNCTION);
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if (blimp.ap.initialised) {
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if (success) {
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AP_Notify::events.user_mode_change = 1;
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} else {
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AP_Notify::events.user_mode_change_failed = 1;
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}
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}
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break;
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}
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default:
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// return to flight mode switch's flight mode if we are currently
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// in this mode
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if (blimp.control_mode == mode) {
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rc().reset_mode_switch();
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}
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}
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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_Blimp::do_aux_function(const AuxFuncTrigger &trigger)
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{
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const AUX_FUNC &ch_option = trigger.func;
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const AuxSwitchPos &ch_flag = trigger.pos;
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switch (ch_option) {
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case AUX_FUNC::LOITER:
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do_aux_function_change_mode(Mode::Number::LOITER, ch_flag);
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break;
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case AUX_FUNC::MANUAL:
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do_aux_function_change_mode(Mode::Number::MANUAL, ch_flag);
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break;
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default:
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return RC_Channel::do_aux_function(trigger);
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}
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return true;
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}
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