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commander: centralize main_state strings and simplify main state change attempts

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* commander: centralize main_state strings and simplify main state change attempts
This commit is contained in:
Daniel Agar
2021-03-30 17:56:28 +02:00
committed by Matthias Grob
parent 18be1bacdc
commit 0fa91f7cb0
2 changed files with 89 additions and 106 deletions
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src/modules/commander/Commander.hpp
+2 -9
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@@ -122,17 +122,11 @@ public:
void get_circuit_breaker_params();
private:
enum class FlightModeChange {
FallbackDisabled = 0,
FallbackEnabled
};
void answer_command(const vehicle_command_s &cmd, uint8_t result);
transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true);
transition_result_t disarm(arm_disarm_reason_t calling_reason);
transition_result_t try_mode_change(main_state_t desired_mode, const FlightModeChange enable_fallback);
transition_result_t try_mode_change(main_state_t desired_mode);
void battery_status_check();
@@ -161,7 +155,7 @@ private:
void offboard_control_update();
void print_reject_mode(const char *msg);
void print_reject_mode(uint8_t main_state);
void reset_posvel_validity();
@@ -292,7 +286,6 @@ private:
static constexpr uint64_t COMMANDER_MONITORING_INTERVAL{10_ms};
static constexpr uint64_t HOTPLUG_SENS_TIMEOUT{8_s}; /**< wait for hotplug sensors to come online for upto 8 seconds */
static constexpr uint64_t PRINT_MODE_REJECT_INTERVAL{500_ms};
static constexpr uint64_t INAIR_RESTART_HOLDOFF_INTERVAL{500_ms};
const int64_t POSVEL_PROBATION_MIN = 1_s; /**< minimum probation duration (usec) */