Copter: Change AC_FENCE_ACTION to an ENUM

muramura · Sep 11, 2024 · 40a6766 · 40a6766
1 parent 66a2788
commit 40a6766
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Showing 2 changed files with 8 additions and 8 deletions.
diff --git a/ArduCopter/fence.cpp b/ArduCopter/fence.cpp
@@ -30,8 +30,8 @@ void Copter::fence_check()
         }
 
         // if the user wants some kind of response and motors are armed
-        uint8_t fence_act = fence.get_action();
-        if (fence_act != AC_FENCE_ACTION_REPORT_ONLY ) {
+        AC_FENCE_ACTION fence_act = static_cast<AC_FENCE_ACTION>(fence.get_action());
+        if (fence_act != AC_FENCE_ACTION::REPORT_ONLY ) {
 
             // disarm immediately if we think we are on the ground or in a manual flight mode with zero throttle
             // don't disarm if the high-altitude fence has been broken because it's likely the user has pulled their throttle to zero to bring it down
@@ -45,32 +45,32 @@ void Copter::fence_check()
                     set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
                 } else {
                     switch (fence_act) {
-                    case AC_FENCE_ACTION_RTL_AND_LAND:
+                    case AC_FENCE_ACTION::RTL_AND_LAND:
                     default:
                         // switch to RTL, if that fails then Land
                         if (!set_mode(Mode::Number::RTL, ModeReason::FENCE_BREACHED)) {
                             set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
                         }
                         break;
-                    case AC_FENCE_ACTION_ALWAYS_LAND:
+                    case AC_FENCE_ACTION::ALWAYS_LAND:
                         // if always land option mode is specified, land
                         set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
                         break;
-                    case AC_FENCE_ACTION_SMART_RTL:
+                    case AC_FENCE_ACTION::SMART_RTL:
                         // Try SmartRTL, if that fails, RTL, if that fails Land
                         if (!set_mode(Mode::Number::SMART_RTL, ModeReason::FENCE_BREACHED)) {
                             if (!set_mode(Mode::Number::RTL, ModeReason::FENCE_BREACHED)) {
                                 set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
                             }
                         }
                         break;
-                    case AC_FENCE_ACTION_BRAKE:
+                    case AC_FENCE_ACTION::BRAKE:
                         // Try Brake, if that fails Land
                         if (!set_mode(Mode::Number::BRAKE, ModeReason::FENCE_BREACHED)) {
                             set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);
                         }
                         break;
-                    case AC_FENCE_ACTION_SMART_RTL_OR_LAND:
+                    case AC_FENCE_ACTION::SMART_RTL_OR_LAND:
                         // Try SmartRTL, if that fails, Land
                         if (!set_mode(Mode::Number::SMART_RTL, ModeReason::FENCE_BREACHED)) {
                             set_mode(Mode::Number::LAND, ModeReason::FENCE_BREACHED);

diff --git a/ArduCopter/mode.cpp b/ArduCopter/mode.cpp
@@ -385,7 +385,7 @@ bool Copter::set_mode(Mode::Number mode, ModeReason reason)
 #endif
 
 #if AP_FENCE_ENABLED
-    if (fence.get_action() != AC_FENCE_ACTION_REPORT_ONLY) {
+    if (static_cast<AC_FENCE_ACTION>(fence.get_action()) != AC_FENCE_ACTION::REPORT_ONLY) {
         // pilot requested flight mode change during a fence breach indicates pilot is attempting to manually recover
         // this flight mode change could be automatic (i.e. fence, battery, GPS or GCS failsafe)
         // but it should be harmless to disable the fence temporarily in these situations as well