Copter: use enum-class and AP_Enum for ThrowType

mohanbabi · Dec 8, 2020 · bd0dff1 · bd0dff1
1 parent de2802e
commit bd0dff1
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Showing 4 changed files with 7 additions and 7 deletions.
diff --git a/ArduCopter/Parameters.cpp b/ArduCopter/Parameters.cpp
@@ -757,7 +757,7 @@ const AP_Param::GroupInfo ParametersG2::var_info[] = {
     // @Description: Used by Throw mode. Specifies whether Copter is thrown upward or dropped.
     // @Values: 0:Upward Throw,1:Drop
     // @User: Standard
-    AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, ModeThrow::ThrowType_Upward),
+    AP_GROUPINFO("THROW_TYPE", 4, ParametersG2, throw_type, (float)ModeThrow::ThrowType::Upward),
 #endif
 
     // @Param: GND_EFFECT_COMP

diff --git a/ArduCopter/Parameters.h b/ArduCopter/Parameters.h
@@ -497,7 +497,7 @@ class ParametersG2 {
 #if MODE_THROW_ENABLED == ENABLED
     // Throw mode parameters
     AP_Int8 throw_nextmode;
-    AP_Int8 throw_type;
+    AP_Enum<ModeThrow::ThrowType> throw_type;
 #endif
 
     // ground effect compensation enable/disable

diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -1335,9 +1335,9 @@ class ModeThrow : public Mode {
     bool is_autopilot() const override { return false; }
 
     // Throw types
-    enum ThrowModeType {
-        ThrowType_Upward = 0,
-        ThrowType_Drop = 1
+    enum class ThrowType {
+        Upward = 0,
+        Drop = 1
     };
 
 protected:

diff --git a/ArduCopter/mode_throw.cpp b/ArduCopter/mode_throw.cpp
@@ -60,7 +60,7 @@ void ModeThrow::run()
 
         // initialise the demanded height to 3m above the throw height
         // we want to rapidly clear surrounding obstacles
-        if (g2.throw_type == ThrowType_Drop) {
+        if (g2.throw_type == ThrowType::Drop) {
             pos_control->set_alt_target(inertial_nav.get_altitude() - 100);
         } else {
             pos_control->set_alt_target(inertial_nav.get_altitude() + 300);
@@ -244,7 +244,7 @@ bool ModeThrow::throw_detected()
 
     // check for upwards or downwards trajectory (airdrop) of 50cm/s
     bool changing_height;
-    if (g2.throw_type == ThrowType_Drop) {
+    if (g2.throw_type == ThrowType::Drop) {
         changing_height = inertial_nav.get_velocity().z < -THROW_VERTICAL_SPEED;
     } else {
         changing_height = inertial_nav.get_velocity().z > THROW_VERTICAL_SPEED;