AirModeYaw - Change airmode type from bool to int

src/drivers/linux_pwm_out/linux_pwm_out.cpp

@@ -116,7 +116,7 @@ static void subscribe();
 
 static void task_main(int argc, char *argv[]);
 
-static void update_params(bool &airmode);
+static void update_params(int32_t &airmode);
 
 /* mixer initialization */
 int initialize_mixer(const char *mixer_filename);
@@ -135,15 +135,13 @@ int mixer_control_callback(uintptr_t handle,
 }
 
 
-void update_params(bool &airmode)
+void update_params(int32_t &airmode)
 {
 	// multicopter air-mode
 	param_t param_handle = param_find("MC_AIRMODE");
 
 	if (param_handle != PARAM_INVALID) {
-		int32_t val;
-		param_get(param_handle, &val);
-		airmode = val > 0;
+		param_get(param_handle, (int32_t *)&airmode);
 	}
 }
 
@@ -257,7 +255,7 @@ void task_main(int argc, char *argv[])
 	// subscribe and set up polling
 	subscribe();
 
-	bool airmode = false;
+	int32_t airmode = false;
 	update_params(airmode);
 	int params_sub = orb_subscribe(ORB_ID(parameter_update));
 

src/drivers/pwm_out_sim/PWMSim.cpp

@@ -146,9 +146,7 @@ void PWMSim::update_params()
 	param_t param_handle = param_find("MC_AIRMODE");
 
 	if (param_handle != PARAM_INVALID) {
-		int32_t val;
-		param_get(param_handle, &val);
-		_airmode = val > 0;
+		param_get(param_handle, &_airmode);
 	}
 }
 

src/drivers/pwm_out_sim/PWMSim.hpp

@@ -131,7 +131,7 @@ private:
 	actuator_controls_s _controls[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
 	orb_id_t	_control_topics[actuator_controls_s::NUM_ACTUATOR_CONTROL_GROUPS] {};
 
-	bool 	_airmode{false}; 	///< multicopter air-mode
+	int32_t 	_airmode{0}; 	///< multicopter air-mode
 
 	perf_counter_t	_perf_control_latency;
 

src/drivers/px4fmu/fmu.cpp

@@ -237,7 +237,7 @@ private:
 
 	float _mot_t_max;	///< maximum rise time for motor (slew rate limiting)
 	float _thr_mdl_fac;	///< thrust to pwm modelling factor
-	bool _airmode; 		///< multicopter air-mode
+	int32_t _airmode;	///< multicopter air-mode
 	MotorOrdering _motor_ordering;
 
 	perf_counter_t	_perf_control_latency;
@@ -321,7 +321,7 @@ PX4FMU::PX4FMU(bool run_as_task) :
 	_to_mixer_status(nullptr),
 	_mot_t_max(0.0f),
 	_thr_mdl_fac(0.0f),
-	_airmode(false),
+	_airmode(0),
 	_motor_ordering(MotorOrdering::PX4),
 	_perf_control_latency(perf_alloc(PC_ELAPSED, "fmu control latency"))
 {
@@ -1195,7 +1195,7 @@ PX4FMU::cycle()
 					}
 				}
 
-				/* overwrite outputs in case of lockdown with disarmed PWM values */
+				/* overwrite outputs in case of lockdown or parachute triggering with disarmed PWM values */
 				if (_armed.lockdown || _armed.manual_lockdown) {
 					for (size_t i = 0; i < mixed_num_outputs; i++) {
 						pwm_limited[i] = _disarmed_pwm[i];
@@ -1382,10 +1382,7 @@ void PX4FMU::update_params()
 	param_handle = param_find("MC_AIRMODE");
 
 	if (param_handle != PARAM_INVALID) {
-		int32_t val;
-		param_get(param_handle, &val);
-		_airmode = val > 0;
-		PX4_DEBUG("%s: %d", "MC_AIRMODE", _airmode);
+		param_get(param_handle, &_airmode);
 	}
 
 	// motor ordering

src/drivers/snapdragon_pwm_out/snapdragon_pwm_out.cpp

@@ -138,7 +138,7 @@ static void subscribe();
 
 static void task_main(int argc, char *argv[]);
 
-static void update_params(bool &airmode);
+static void update_params(int32_t &airmode);
 
 int initialize_mixer(const char *mixer_filename);
 
@@ -162,15 +162,13 @@ int mixer_control_callback(uintptr_t handle,
 	return 0;
 }
 
-void update_params(bool &airmode)
+void update_params(int32_t &airmode)
 {
 	// multicopter air-mode
 	param_t param_handle = param_find("MC_AIRMODE");
 
 	if (param_handle != PARAM_INVALID) {
-		int32_t val;
-		param_get(param_handle, &val);
-		airmode = val > 0;
+		param_get(param_handle, &airmode);
 	}
 }
 
@@ -357,7 +355,7 @@ void task_main(int argc, char *argv[])
 	// subscribe and set up polling
 	subscribe();
 
-	bool airmode = false;
+	int32_t airmode = 0;
 	update_params(airmode);
 	int params_sub = orb_subscribe(ORB_ID(parameter_update));
 

src/drivers/uavcan/uavcan_main.cpp

@@ -428,9 +428,7 @@ void UavcanNode::update_params()
 	param_t param_handle = param_find("MC_AIRMODE");
 
 	if (param_handle != PARAM_INVALID) {
-		int32_t val;
-		param_get(param_handle, &val);
-		_airmode = val > 0;
+		param_get(param_handle, &_airmode);
 	}
 }
 

src/drivers/uavcan/uavcan_main.hpp

@@ -210,7 +210,7 @@ private:
 
 	perf_counter_t			_perf_control_latency;
 
-	bool 				_airmode = false;
+	int32_t 			_airmode = 0;
 
 	// index into _poll_fds for each _control_subs handle
 	uint8_t				_poll_ids[NUM_ACTUATOR_CONTROL_GROUPS_UAVCAN];