From 1466d11acc6c165da14e9cc97bde9802ad98af6e Mon Sep 17 00:00:00 2001 From: Mark Sauder Date: Thu, 27 Jun 2019 10:02:14 -0600 Subject: [PATCH] land_detector: cleanup actuator_armed and battery_status naming * Rename _arming -> _actuator_armed * Rename _battery -> _battery_status in the MulticopterLandDetector class. --- .../land_detector/FixedwingLandDetector.cpp | 2 +- src/modules/land_detector/LandDetector.cpp | 6 +++--- src/modules/land_detector/LandDetector.h | 2 +- .../land_detector/MulticopterLandDetector.cpp | 14 +++++++------- .../land_detector/MulticopterLandDetector.h | 2 +- src/modules/land_detector/RoverLandDetector.cpp | 2 +- 6 files changed, 14 insertions(+), 14 deletions(-) diff --git a/src/modules/land_detector/FixedwingLandDetector.cpp b/src/modules/land_detector/FixedwingLandDetector.cpp index 7987e5593d..71ab489d79 100644 --- a/src/modules/land_detector/FixedwingLandDetector.cpp +++ b/src/modules/land_detector/FixedwingLandDetector.cpp @@ -88,7 +88,7 @@ float FixedwingLandDetector::_get_max_altitude() bool FixedwingLandDetector::_get_landed_state() { // only trigger flight conditions if we are armed - if (!_arming.armed) { + if (!_actuator_armed.armed) { return true; } diff --git a/src/modules/land_detector/LandDetector.cpp b/src/modules/land_detector/LandDetector.cpp index 2ea4c09e72..579ed3224e 100644 --- a/src/modules/land_detector/LandDetector.cpp +++ b/src/modules/land_detector/LandDetector.cpp @@ -80,7 +80,7 @@ void LandDetector::Run() perf_begin(_cycle_perf); _check_params(false); - _actuator_armed_sub.update(&_arming); + _actuator_armed_sub.update(&_actuator_armed); _update_topics(); _update_state(); @@ -124,7 +124,7 @@ void LandDetector::Run() // set the flight time when disarming (not necessarily when landed, because all param changes should // happen on the same event and it's better to set/save params while not in armed state) - if (_takeoff_time != 0 && !_arming.armed && _previous_armed_state) { + if (_takeoff_time != 0 && !_actuator_armed.armed && _previous_armed_state) { _total_flight_time += now - _takeoff_time; _takeoff_time = 0; @@ -139,7 +139,7 @@ void LandDetector::Run() _param_total_flight_time_low.commit_no_notification(); } - _previous_armed_state = _arming.armed; + _previous_armed_state = _actuator_armed.armed; perf_end(_cycle_perf); diff --git a/src/modules/land_detector/LandDetector.h b/src/modules/land_detector/LandDetector.h index 4fab8a80e6..d8125fac01 100644 --- a/src/modules/land_detector/LandDetector.h +++ b/src/modules/land_detector/LandDetector.h @@ -153,7 +153,7 @@ protected: systemlib::Hysteresis _ground_contact_hysteresis{true}; systemlib::Hysteresis _ground_effect_hysteresis{false}; - actuator_armed_s _arming {}; + actuator_armed_s _actuator_armed {}; private: diff --git a/src/modules/land_detector/MulticopterLandDetector.cpp b/src/modules/land_detector/MulticopterLandDetector.cpp index 2042f29ba3..e5228ce294 100644 --- a/src/modules/land_detector/MulticopterLandDetector.cpp +++ b/src/modules/land_detector/MulticopterLandDetector.cpp @@ -93,7 +93,7 @@ MulticopterLandDetector::MulticopterLandDetector() void MulticopterLandDetector::_update_topics() { _actuator_controls_sub.update(&_actuator_controls); - _battery_sub.update(&_battery); + _battery_sub.update(&_battery_status); _sensor_bias_sub.update(&_sensor_bias); _vehicle_attitude_sub.update(&_vehicle_attitude); _vehicle_control_mode_sub.update(&_control_mode); @@ -141,7 +141,7 @@ bool MulticopterLandDetector::_get_freefall_state() bool MulticopterLandDetector::_get_ground_contact_state() { // When not armed, consider to have ground-contact - if (!_arming.armed) { + if (!_actuator_armed.armed) { return true; } @@ -192,7 +192,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state() const hrt_abstime now = hrt_absolute_time(); // When not armed, consider to be maybe-landed - if (!_arming.armed) { + if (!_actuator_armed.armed) { return true; } @@ -239,7 +239,7 @@ bool MulticopterLandDetector::_get_maybe_landed_state() bool MulticopterLandDetector::_get_landed_state() { // When not armed, consider to be landed - if (!_arming.armed) { + if (!_actuator_armed.armed) { return true; } @@ -265,15 +265,15 @@ float MulticopterLandDetector::_get_max_altitude() /* ToDo: add a meaningful altitude */ float valid_altitude_max = _params.altitude_max; - if (_battery.warning == battery_status_s::BATTERY_WARNING_LOW) { + if (_battery_status.warning == battery_status_s::BATTERY_WARNING_LOW) { valid_altitude_max = _params.altitude_max * 0.75f; } - if (_battery.warning == battery_status_s::BATTERY_WARNING_CRITICAL) { + if (_battery_status.warning == battery_status_s::BATTERY_WARNING_CRITICAL) { valid_altitude_max = _params.altitude_max * 0.5f; } - if (_battery.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) { + if (_battery_status.warning == battery_status_s::BATTERY_WARNING_EMERGENCY) { valid_altitude_max = _params.altitude_max * 0.25f; } diff --git a/src/modules/land_detector/MulticopterLandDetector.h b/src/modules/land_detector/MulticopterLandDetector.h index 4be91d3910..19ec57dab0 100644 --- a/src/modules/land_detector/MulticopterLandDetector.h +++ b/src/modules/land_detector/MulticopterLandDetector.h @@ -132,7 +132,7 @@ private: uORB::Subscription _vehicle_local_position_setpoint_sub{ORB_ID(vehicle_local_position_setpoint)}; actuator_controls_s _actuator_controls {}; - battery_status_s _battery {}; + battery_status_s _battery_status {}; vehicle_control_mode_s _control_mode {}; sensor_bias_s _sensor_bias {}; vehicle_attitude_s _vehicle_attitude {}; diff --git a/src/modules/land_detector/RoverLandDetector.cpp b/src/modules/land_detector/RoverLandDetector.cpp index 4a1ad6f827..f9fe3ca8bd 100644 --- a/src/modules/land_detector/RoverLandDetector.cpp +++ b/src/modules/land_detector/RoverLandDetector.cpp @@ -67,7 +67,7 @@ bool RoverLandDetector::_get_maybe_landed_state() bool RoverLandDetector::_get_landed_state() { - if (!_arming.armed) { + if (!_actuator_armed.armed) { return true; }