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Copter: move #ifs to outside case statements in do_aux_function
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this means a user will get a warning if they try to run a function and it isn't supported
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@peterbarker
peterbarker committed Apr 10, 2024
1 parent 319d1a7 commit 7df1d9d
Showing 1 changed file with 46 additions and 55 deletions.
101 changes: 46 additions & 55 deletions ArduCopter/RC_Channel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -187,11 +187,11 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
}

case AUX_FUNC::RTL:
#if MODE_RTL_ENABLED == ENABLED
case AUX_FUNC::RTL:
do_aux_function_change_mode(Mode::Number::RTL, ch_flag);
#endif
break;
#endif

case AUX_FUNC::SAVE_TRIM:
if ((ch_flag == AuxSwitchPos::HIGH) &&
Expand All @@ -201,8 +201,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;

case AUX_FUNC::SAVE_WP:
#if MODE_AUTO_ENABLED == ENABLED
case AUX_FUNC::SAVE_WP:
// save waypoint when switch is brought high
if (ch_flag == RC_Channel::AuxSwitchPos::HIGH) {

Expand Down Expand Up @@ -250,29 +250,27 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
LOGGER_WRITE_EVENT(LogEvent::SAVEWP_ADD_WP);
}
}
#endif
break;

case AUX_FUNC::AUTO:
#if MODE_AUTO_ENABLED == ENABLED
do_aux_function_change_mode(Mode::Number::AUTO, ch_flag);
#endif
break;
#endif

#if RANGEFINDER_ENABLED == ENABLED
case AUX_FUNC::RANGEFINDER:
// enable or disable the rangefinder
#if RANGEFINDER_ENABLED == ENABLED
if ((ch_flag == AuxSwitchPos::HIGH) &&
copter.rangefinder.has_orientation(ROTATION_PITCH_270)) {
copter.rangefinder_state.enabled = true;
} else {
copter.rangefinder_state.enabled = false;
}
#endif
break;
#endif

case AUX_FUNC::ACRO_TRAINER:
#if MODE_ACRO_ENABLED == ENABLED
case AUX_FUNC::ACRO_TRAINER:
switch(ch_flag) {
case AuxSwitchPos::LOW:
copter.g.acro_trainer.set((uint8_t)ModeAcro::Trainer::OFF);
Expand All @@ -287,14 +285,14 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
LOGGER_WRITE_EVENT(LogEvent::ACRO_TRAINER_LIMITED);
break;
}
#endif
break;
#endif

case AUX_FUNC::AUTOTUNE:
#if AUTOTUNE_ENABLED == ENABLED
case AUX_FUNC::AUTOTUNE:
do_aux_function_change_mode(Mode::Number::AUTOTUNE, ch_flag);
#endif
break;
#endif

case AUX_FUNC::LAND:
do_aux_function_change_mode(Mode::Number::LAND, ch_flag);
Expand All @@ -312,23 +310,19 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
do_aux_function_change_mode(Mode::Number::FOLLOW, ch_flag);
break;

case AUX_FUNC::PARACHUTE_ENABLE:
#if PARACHUTE == ENABLED
case AUX_FUNC::PARACHUTE_ENABLE:
// Parachute enable/disable
copter.parachute.enabled(ch_flag == AuxSwitchPos::HIGH);
#endif
break;

case AUX_FUNC::PARACHUTE_RELEASE:
#if PARACHUTE == ENABLED
if (ch_flag == AuxSwitchPos::HIGH) {
copter.parachute_manual_release();
}
#endif
break;

case AUX_FUNC::PARACHUTE_3POS:
#if PARACHUTE == ENABLED
// Parachute disable, enable, release with 3 position switch
switch (ch_flag) {
case AuxSwitchPos::LOW:
Expand All @@ -342,8 +336,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.parachute_manual_release();
break;
}
#endif
break;
#endif

case AUX_FUNC::ATTCON_FEEDFWD:
// enable or disable feed forward
Expand All @@ -366,9 +360,9 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.ap.motor_interlock_switch = (ch_flag == AuxSwitchPos::HIGH || ch_flag == AuxSwitchPos::MIDDLE);
#endif
break;


#if FRAME_CONFIG == HELI_FRAME
case AUX_FUNC::TURBINE_START:
#if FRAME_CONFIG == HELI_FRAME
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.motors->set_turb_start(true);
Expand All @@ -380,23 +374,23 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.motors->set_turb_start(false);
break;
}
#endif
break;
case AUX_FUNC::BRAKE:
#endif

#if MODE_BRAKE_ENABLED == ENABLED
case AUX_FUNC::BRAKE:
do_aux_function_change_mode(Mode::Number::BRAKE, ch_flag);
#endif
break;
#endif

case AUX_FUNC::THROW:
#if MODE_THROW_ENABLED == ENABLED
case AUX_FUNC::THROW:
do_aux_function_change_mode(Mode::Number::THROW, ch_flag);
#endif
break;
#endif

case AUX_FUNC::PRECISION_LOITER:
#if AC_PRECLAND_ENABLED && MODE_LOITER_ENABLED == ENABLED
case AUX_FUNC::PRECISION_LOITER:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
copter.mode_loiter.set_precision_loiter_enabled(true);
Expand All @@ -408,17 +402,17 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.mode_loiter.set_precision_loiter_enabled(false);
break;
}
#endif
break;
#endif

case AUX_FUNC::SMART_RTL:
#if MODE_SMARTRTL_ENABLED == ENABLED
case AUX_FUNC::SMART_RTL:
do_aux_function_change_mode(Mode::Number::SMART_RTL, ch_flag);
#endif
break;
#endif

case AUX_FUNC::INVERTED:
#if FRAME_CONFIG == HELI_FRAME
case AUX_FUNC::INVERTED:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
if (copter.flightmode->allows_inverted()) {
Expand All @@ -434,11 +428,11 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.attitude_control->set_inverted_flight(false);
break;
}
#endif
break;
#endif

case AUX_FUNC::WINCH_ENABLE:
#if AP_WINCH_ENABLED
case AUX_FUNC::WINCH_ENABLE:
switch (ch_flag) {
case AuxSwitchPos::HIGH:
// high switch position stops winch using rate control
Expand All @@ -450,8 +444,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
copter.g2.winch.relax();
break;
}
#endif
break;
#endif

case AUX_FUNC::WINCH_CONTROL:
// do nothing, used to control the rate of the winch and is processed within AP_Winch
Expand All @@ -471,14 +465,12 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
#endif

case AUX_FUNC::ZIGZAG:
#if MODE_ZIGZAG_ENABLED == ENABLED
case AUX_FUNC::ZIGZAG:
do_aux_function_change_mode(Mode::Number::ZIGZAG, ch_flag);
#endif
break;

case AUX_FUNC::ZIGZAG_SaveWP:
#if MODE_ZIGZAG_ENABLED == ENABLED
if (copter.flightmode == &copter.mode_zigzag) {
// initialize zigzag auto
copter.mode_zigzag.init_auto();
Expand All @@ -494,47 +486,46 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
}
}
#endif
break;
#endif

case AUX_FUNC::STABILIZE:
do_aux_function_change_mode(Mode::Number::STABILIZE, ch_flag);
break;

case AUX_FUNC::POSHOLD:
#if MODE_POSHOLD_ENABLED == ENABLED
case AUX_FUNC::POSHOLD:
do_aux_function_change_mode(Mode::Number::POSHOLD, ch_flag);
#endif
break;
#endif

case AUX_FUNC::ALTHOLD:
do_aux_function_change_mode(Mode::Number::ALT_HOLD, ch_flag);
break;


case AUX_FUNC::ACRO:
#if MODE_ACRO_ENABLED == ENABLED
case AUX_FUNC::ACRO:
do_aux_function_change_mode(Mode::Number::ACRO, ch_flag);
#endif
break;
#endif

case AUX_FUNC::FLOWHOLD:
#if MODE_FLOWHOLD_ENABLED
case AUX_FUNC::FLOWHOLD:
do_aux_function_change_mode(Mode::Number::FLOWHOLD, ch_flag);
#endif
break;
#endif

case AUX_FUNC::CIRCLE:
#if MODE_CIRCLE_ENABLED == ENABLED
case AUX_FUNC::CIRCLE:
do_aux_function_change_mode(Mode::Number::CIRCLE, ch_flag);
#endif
break;
#endif

case AUX_FUNC::DRIFT:
#if MODE_DRIFT_ENABLED == ENABLED
case AUX_FUNC::DRIFT:
do_aux_function_change_mode(Mode::Number::DRIFT, ch_flag);
#endif
break;
#endif

case AUX_FUNC::STANDBY: {
switch (ch_flag) {
Expand Down Expand Up @@ -566,8 +557,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
}
break;

case AUX_FUNC::ZIGZAG_Auto:
#if MODE_ZIGZAG_ENABLED == ENABLED
case AUX_FUNC::ZIGZAG_Auto:
if (copter.flightmode == &copter.mode_zigzag) {
switch (ch_flag) {
case AuxSwitchPos::HIGH:
Expand All @@ -578,8 +569,8 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
break;
}
}
#endif
break;
#endif

case AUX_FUNC::AIRMODE:
do_aux_function_change_air_mode(ch_flag);
Expand All @@ -592,17 +583,17 @@ bool RC_Channel_Copter::do_aux_function(const AUX_FUNC ch_option, const AuxSwitc
do_aux_function_change_force_flying(ch_flag);
break;

case AUX_FUNC::AUTO_RTL:
#if MODE_AUTO_ENABLED == ENABLED
case AUX_FUNC::AUTO_RTL:
do_aux_function_change_mode(Mode::Number::AUTO_RTL, ch_flag);
#endif
break;
#endif

case AUX_FUNC::TURTLE:
#if MODE_TURTLE_ENABLED == ENABLED
case AUX_FUNC::TURTLE:
do_aux_function_change_mode(Mode::Number::TURTLE, ch_flag);
#endif
break;
#endif

case AUX_FUNC::SIMPLE_HEADING_RESET:
if (ch_flag == AuxSwitchPos::HIGH) {
Expand Down

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