Copter: add and use private ModeAuto::option_is_enabled method

ArduPilot · Jul 17, 2024 · 5f9abc0 · 5f9abc0
1 parent 7e722ee
commit 5f9abc0
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Showing 2 changed files with 15 additions and 6 deletions.
diff --git a/ArduCopter/mode.h b/ArduCopter/mode.h
@@ -596,12 +596,13 @@ class ModeAuto : public Mode {
 
 private:
 
-    enum class Options : int32_t {
+    enum class Option : int32_t {
         AllowArming                        = (1 << 0U),
         AllowTakeOffWithoutRaisingThrottle = (1 << 1U),
         IgnorePilotYaw                     = (1 << 2U),
         AllowWeatherVaning                 = (1 << 7U),
     };
+    bool option_is_enabled(Option option) const;
 
     // Enter auto rtl pseudo mode
     bool enter_auto_rtl(ModeReason reason);

diff --git a/ArduCopter/mode_auto.cpp b/ArduCopter/mode_auto.cpp
@@ -202,15 +202,23 @@ void ModeAuto::set_submode(SubMode new_submode)
     }
 }
 
+bool ModeAuto::option_is_enabled(Option option) const
+{
+    return ((copter.g2.auto_options & (uint32_t)option) != 0);
+}
+
 bool ModeAuto::allows_arming(AP_Arming::Method method) const
 {
-    return ((copter.g2.auto_options & (uint32_t)Options::AllowArming) != 0) && !auto_RTL;
-};
+    if (auto_RTL) {
+        return false;
+    }
+    return option_is_enabled(Option::AllowArming);
+}
 
 #if WEATHERVANE_ENABLED == ENABLED
 bool ModeAuto::allows_weathervaning() const
 {
-    return (copter.g2.auto_options & (uint32_t)Options::AllowWeatherVaning) != 0;
+    return option_is_enabled(Option::AllowWeatherVaning);
 }
 #endif
 
@@ -638,7 +646,7 @@ void PayloadPlace::start_descent()
 // returns true if pilot's yaw input should be used to adjust vehicle's heading
 bool ModeAuto::use_pilot_yaw(void) const
 {
-    const bool allow_yaw_option = (copter.g2.auto_options.get() & uint32_t(Options::IgnorePilotYaw)) == 0;
+    const bool allow_yaw_option = !option_is_enabled(Option::IgnorePilotYaw);
     const bool rtl_allow_yaw = (_mode == SubMode::RTL) && copter.mode_rtl.use_pilot_yaw();
     const bool landing = _mode == SubMode::LAND;
     return allow_yaw_option || rtl_allow_yaw || landing;
@@ -1039,7 +1047,7 @@ void ModeAuto::takeoff_run()
 {
     // if the user doesn't want to raise the throttle we can set it automatically
     // note that this can defeat the disarm check on takeoff
-    if ((copter.g2.auto_options & (int32_t)Options::AllowTakeOffWithoutRaisingThrottle) != 0) {
+    if (option_is_enabled(Option::AllowTakeOffWithoutRaisingThrottle)) {
         copter.set_auto_armed(true);
     }
     auto_takeoff.run();