SRV_Channel: use enumeration for servo input type

ArduPilot · Aug 16, 2022 · 094e932 · 094e932
1 parent b6186db
commit 094e932
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Showing 3 changed files with 26 additions and 18 deletions.
diff --git a/libraries/SRV_Channel/SRV_Channel.cpp b/libraries/SRV_Channel/SRV_Channel.cpp
@@ -130,10 +130,15 @@ void SRV_Channel::calc_pwm(float output_scaled)
         return;
     }
 
-    if (type_angle) {
+    switch (type) {
+    case Type::AUX:
+        return;
+    case Type::ANGLE:
         output_pwm = pwm_from_angle(output_scaled);
-    } else {
+        break;
+    case Type::RANGE:
         output_pwm = pwm_from_range(output_scaled);
+        break;
     }
 }
 
@@ -149,27 +154,30 @@ void SRV_Channel::set_output_pwm(uint16_t pwm, bool force)
 void SRV_Channel::set_output_norm(float value)
 {
     // convert normalised value to pwm
-    if (type_angle) {
+    switch (type) {
+    case Type::AUX:
+        return;
+    case Type::ANGLE:
         set_output_pwm(pwm_from_angle(value * high_out));
-    } else {
+        return;
+    case Type::RANGE:
         set_output_pwm(pwm_from_range(value * high_out));
+        return;
     }
 }
 
 // set angular range of scaled output
 void SRV_Channel::set_angle(int16_t angle)
 {
-    type_angle = true;
+    type = Type::ANGLE;
     high_out = angle;    
-    type_setup = true;
 }
 
 // set range of scaled output
 void SRV_Channel::set_range(uint16_t high)
 {
-    type_angle = false;
+    type = Type::RANGE;
     high_out = high;
-    type_setup = true;
 }
 
 /*

diff --git a/libraries/SRV_Channel/SRV_Channel.h b/libraries/SRV_Channel/SRV_Channel.h
@@ -49,6 +49,12 @@ class SRV_Channel {
 public:
     friend class SRV_Channels;
 
+    enum class Type {
+        AUX = 16,
+        ANGLE = 17,
+        RANGE = 18,
+    };
+
     // constructor
     SRV_Channel(void);
 
@@ -290,11 +296,7 @@ class SRV_Channel {
     // a pending output value as PWM
     uint16_t output_pwm;
 
-    // true for angle output type
-    bool type_angle:1;
-
-    // set_range() or set_angle() has been called
-    bool type_setup:1;
+    Type type = Type::RANGE;
 
     // the hal channel number
     uint8_t ch_num;

diff --git a/libraries/SRV_Channel/SRV_Channel_aux.cpp b/libraries/SRV_Channel/SRV_Channel_aux.cpp
@@ -99,13 +99,11 @@ SRV_Channel::Aux_servo_function_t SRV_Channels::channel_function(uint8_t channel
 }
 
 /*
-   setup a channels aux servo function
+   setup a channel's function.  Despite the name this is called for
+   non-aux functions (e.g. yaw out) too.
 */
 void SRV_Channel::aux_servo_function_setup(void)
 {
-    if (type_setup) {
-        return;
-    }
     switch (function.get()) {
     case k_flap:
     case k_flap_auto:
@@ -517,7 +515,7 @@ bool SRV_Channels::set_aux_channel_default(SRV_Channel::Aux_servo_function_t fun
                             (unsigned)channels[channel].function.get());
         return false;
     }
-    channels[channel].type_setup = false;
+    channels[channel].type = SRV_Channel::Type::AUX;
     channels[channel].function.set_and_default(function);
     channels[channel].aux_servo_function_setup();
     function_mask.set((uint16_t)function);