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Code Issues Releases Activity

OP-1260 use predefined macro for size of Flight Mode Switch

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This commit is contained in:
Cliff Geerdes 2014-03-21 22:34:03 -04:00
parent 945b60cf99
commit 820e8dfa3e
1 changed files with 3 additions and 9 deletions
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12
flight/modules/Stabilization/stabilization.c
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@ -82,9 +82,6 @@
#define TASK_PRIORITY (tskIDLE_PRIORITY + 3) // FLIGHT CONTROL priority
#define FAILSAFE_TIMEOUT_MS 30
// number of flight mode switch positions
#define NUM_FMS_POSITIONS 6
// The PID_RATE_ROLL set is used by Rate mode and the rate portion of Attitude mode
// The PID_RATE set is used by the attitude portion of Attitude mode
enum { PID_RATE_ROLL, PID_RATE_PITCH, PID_RATE_YAW, PID_ROLL, PID_PITCH, PID_YAW, PID_MAX };
@ -115,7 +112,7 @@ static float cruise_control_max_power_factor;
static float cruise_control_power_trim;
static int8_t cruise_control_inverted_power_switch;
static float cruise_control_neutral_thrust;
static uint8_t cruise_control_flight_mode_switch_pos_enable[NUM_FMS_POSITIONS];
static uint8_t cruise_control_flight_mode_switch_pos_enable[FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM];
// Private functions
static void stabilizationTask(void *parameters);
@ -162,9 +159,6 @@ int32_t StabilizationStart()
*/
int32_t StabilizationInitialize()
{
// stop the compile if the number of switch positions changes, but has not been changed here
PIOS_STATIC_ASSERT(NUM_FMS_POSITIONS == sizeof(((FlightModeSettingsData *)0)->FlightModePosition) / sizeof((((FlightModeSettingsData *)0)->FlightModePosition)[0]));
// Initialize variables
ManualControlCommandInitialize();
ManualControlSettingsInitialize();
@ -568,7 +562,7 @@ static void stabilizationTask(__attribute__((unused)) void *parameters)
// to maintain same altitdue with changing bank angle
// but without manually adjusting thrust
// do it here and all the various flight modes (e.g. Altitude Hold) can use it
if (flight_mode_switch_position < NUM_FMS_POSITIONS
if (flight_mode_switch_position < FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM
&& cruise_control_flight_mode_switch_pos_enable[flight_mode_switch_position] != (uint8_t)0
&& cruise_control_max_power_factor > 0.0001f) {
static uint8_t toggle;
@ -681,7 +675,7 @@ static float bound(float val, float range)
static void SettingsBankUpdatedCb(__attribute__((unused)) UAVObjEvent *ev)
{
if (cur_flight_mode < 0 || cur_flight_mode >= NUM_FMS_POSITIONS) {
if (cur_flight_mode < 0 || cur_flight_mode >= FLIGHTMODESETTINGS_FLIGHTMODEPOSITION_NUMELEM) {
return;
}
if ((ev) && ((settings.FlightModeMap[cur_flight_mode] == 0 && ev->obj != StabilizationSettingsBank1Handle()) ||