From 8dd3c45ccfefbc70fe7d29616095523f8312e374 Mon Sep 17 00:00:00 2001 From: Alessio Morale Date: Thu, 1 Aug 2013 11:44:12 +0200 Subject: [PATCH] OP-1058 change some missing occurrencies to .field.XXX notation +review OPReview-552 --- flight/modules/ManualControl/manualcontrol.c | 38 ++++++++++---------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/flight/modules/ManualControl/manualcontrol.c b/flight/modules/ManualControl/manualcontrol.c index 42640f542..b1cf5ac12 100644 --- a/flight/modules/ManualControl/manualcontrol.c +++ b/flight/modules/ManualControl/manualcontrol.c @@ -261,10 +261,10 @@ static void manualControlTask(__attribute__((unused)) void *parameters) } // Check settings, if error raise alarm - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE - || settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE - || settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE - || settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE + if (settings.ChannelGroups.fields.Roll >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE + || settings.ChannelGroups.fields.Pitch >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE + || settings.ChannelGroups.fields.Yaw >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE + || settings.ChannelGroups.fields.Throttle >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || // Check all channel mappings are valid cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL] == (uint16_t)PIOS_RCVR_INVALID @@ -281,7 +281,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters) settings.FlightModeNumber < 1 || settings.FlightModeNumber > MANUALCONTROLSETTINGS_FLIGHTMODEPOSITION_NUMELEM || // Similar checks for FlightMode channel but only if more than one flight mode has been set. Otherwise don't care ((settings.FlightModeNumber > 1) - && (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE + && (settings.ChannelGroups.fields.FlightMode >= MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_INVALID || cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_FLIGHTMODE] == (uint16_t)PIOS_RCVR_NODRIVER))) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_CRITICAL); @@ -296,14 +296,14 @@ static void manualControlTask(__attribute__((unused)) void *parameters) } // decide if we have valid manual input or not - valid_input_detected &= validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], - settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) - && validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], - settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) - && validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], - settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) - && validInputRange(settings.ChannelMin.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], - settings.ChannelMax.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH], cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]); + valid_input_detected &= validInputRange(settings.ChannelMin.fields.Throttle, + settings.ChannelMax.fields.Throttle, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_THROTTLE]) + && validInputRange(settings.ChannelMin.fields.Roll, + settings.ChannelMax.fields.Roll, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ROLL]) + && validInputRange(settings.ChannelMin.fields.Yaw, + settings.ChannelMax.fields.Yaw, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_YAW]) + && validInputRange(settings.ChannelMin.fields.Pitch, + settings.ChannelMax.fields.Pitch, cmd.Channel[MANUALCONTROLSETTINGS_CHANNELGROUPS_PITCH]); // Implement hysteresis loop on connection status if (valid_input_detected && (++connected_count > 10)) { @@ -333,21 +333,21 @@ static void manualControlTask(__attribute__((unused)) void *parameters) AccessoryDesiredData accessory; // Set Accessory 0 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = 0; if (AccessoryDesiredInstSet(0, &accessory) != 0) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } } // Set Accessory 1 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = 0; if (AccessoryDesiredInstSet(1, &accessory) != 0) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); } } // Set Accessory 2 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = 0; if (AccessoryDesiredInstSet(2, &accessory) != 0) { AlarmsSet(SYSTEMALARMS_ALARM_MANUALCONTROL, SYSTEMALARMS_ALARM_WARNING); @@ -389,7 +389,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters) AccessoryDesiredData accessory; // Set Accessory 0 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory0 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY0]; #ifdef USE_INPUT_LPF applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY0, &settings, dT); @@ -406,7 +406,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters) } } // Set Accessory 1 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory1 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY1]; #ifdef USE_INPUT_LPF applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY1, &settings, dT); @@ -423,7 +423,7 @@ static void manualControlTask(__attribute__((unused)) void *parameters) } } // Set Accessory 2 - if (settings.ChannelGroups.data[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2] != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { + if (settings.ChannelGroups.fields.Accessory2 != MANUALCONTROLSETTINGS_CHANNELGROUPS_NONE) { accessory.AccessoryVal = scaledChannel[MANUALCONTROLSETTINGS_CHANNELGROUPS_ACCESSORY2]; #ifdef USE_INPUT_LPF applyLPF(&accessory.AccessoryVal, MANUALCONTROLSETTINGS_RESPONSETIME_ACCESSORY2, &settings, dT);