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commander: move most static variables and parameters to class

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This commit is contained in:
Daniel Agar
2019-12-23 23:38:10 -05:00
committed by GitHub
parent 386673e6c3
commit 0e70578052
8 changed files with 811 additions and 989 deletions
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src/modules/commander/Arming/PreFlightCheck/PreFlightCheck.hpp
+10 -11
View File
@@ -78,19 +78,18 @@ public:
* true if the system power should be checked
**/
static bool preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status,
vehicle_status_flags_s &status_flags,
const bool checkGNSS, bool reportFailures, const bool prearm, const hrt_abstime &time_since_boot);
vehicle_status_flags_s &status_flags, const bool checkGNSS, bool reportFailures, const bool prearm,
const hrt_abstime &time_since_boot);
struct arm_requirements_t {
bool arm_authorization = false;
bool esc_check = false;
bool global_position = false;
bool mission = false;
};
static bool preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status);
typedef enum {
ARM_REQ_NONE = 0,
ARM_REQ_MISSION_BIT = (1 << 0),
ARM_REQ_ARM_AUTH_BIT = (1 << 1),
ARM_REQ_GPS_BIT = (1 << 2),
ARM_REQ_ESCS_CHECK_BIT = (1 << 3)
} arm_requirements_t;
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status);
private:
static bool magnometerCheck(orb_advert_t *mavlink_log_pub, vehicle_status_s &status, const uint8_t instance,
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+5 -5
View File
@@ -38,7 +38,7 @@
#include <uORB/topics/vehicle_command_ack.h>
bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_status_flags_s &status_flags,
const safety_s &safety, const uint8_t arm_requirements, const vehicle_status_s &status)
const safety_s &safety, const arm_requirements_t &arm_requirements, const vehicle_status_s &status)
{
bool prearm_ok = true;
@@ -70,7 +70,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
// Arm Requirements: mission
if (arm_requirements & ARM_REQ_MISSION_BIT) {
if (arm_requirements.mission) {
if (!status_flags.condition_auto_mission_available) {
if (prearm_ok) {
@@ -90,7 +90,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
// Arm Requirements: global position
if (arm_requirements & ARM_REQ_GPS_BIT) {
if (arm_requirements.global_position) {
if (!status_flags.condition_global_position_valid) {
if (prearm_ok) {
@@ -120,7 +120,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
}
if (status_flags.condition_escs_error && (arm_requirements & ARM_REQ_ESCS_CHECK_BIT)) {
if (arm_requirements.esc_check && status_flags.condition_escs_error) {
if (prearm_ok) {
mavlink_log_critical(mavlink_log_pub, "Arming denied! One or more ESCs are offline");
prearm_ok = false;
@@ -136,7 +136,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// Arm Requirements: authorization
// check last, and only if everything else has passed
if ((arm_requirements & ARM_REQ_ARM_AUTH_BIT) && prearm_ok) {
if (arm_requirements.arm_authorization && prearm_ok) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;