Copter: add Copter::option_enabled(...) replacing bitops vs copter.g2… #27334
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rmackay9
approved these changes
Jun 19, 2024
peterbarker
commented
Jun 19, 2024
ArduCopter/Copter.h
Outdated
| @@ -622,11 +622,13 @@ class Copter : public AP_Vehicle { | |||
| }; | |||
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| enum class FlightOptions { | |||
| enum class FlightOption { | |||
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Suggested change
| enum class FlightOption { | |
| enum class FlightOption : uint32_t { |
these strigs would only be released if release() or grab were called a second time
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Now also fixes intermittent new test by fixing the Gripper code to emit messages correctly. |
rmackay9
reviewed
Jun 20, 2024
| @@ -104,8 +104,10 @@ void AP_Gripper_Servo::update_gripper() | |||
| // Check for successful grabbed or released | |||
| if (config.state == AP_Gripper::STATE_GRABBING && has_state_pwm(config.grab_pwm)) { | |||
| config.state = AP_Gripper::STATE_GRABBED; | |||
| GCS_SEND_TEXT(MAV_SEVERITY_INFO, "Gripper load grabbed"); | |||
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Does this perhaps result in duplicate messages being output? I see we're already outputting these messages higher up in the file
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On Wed, 19 Jun 2024, Randy Mackay wrote:
Does this perhaps result in duplicate messages being output? I see we're already outputting these messages higher up in the file
Only if "release" is called again - and in that case we're supposed to let
the user know that we've done that, so duplkicates are in the design.
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lthall
approved these changes
Jun 20, 2024
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….flight_options
I've already added a test for an option bit in autotest and played with same in SITL