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[FlightTasks] Added class enum for FlightTasks errors (#12822)

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This commit is contained in:
roangel
2019-08-29 14:48:52 +02:00
committed by Julian Oes
parent 497a053bc1
commit 1e510f5a44
3 changed files with 46 additions and 39 deletions
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src/modules/mc_pos_control/mc_pos_control_main.cpp
+14 -14
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@@ -739,9 +739,9 @@ MulticopterPositionControl::start_flight_task()
if (_vehicle_status.in_transition_mode) {
should_disable_task = false;
int error = _flight_tasks.switchTask(FlightTaskIndex::Transition);
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Transition);
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Transition activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -766,9 +766,9 @@ MulticopterPositionControl::start_flight_task()
_control_mode.flag_control_acceleration_enabled)) {
should_disable_task = false;
int error = _flight_tasks.switchTask(FlightTaskIndex::Offboard);
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Offboard);
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Offboard activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -785,9 +785,9 @@ MulticopterPositionControl::start_flight_task()
// Auto-follow me
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_AUTO_FOLLOW_TARGET) {
should_disable_task = false;
int error = _flight_tasks.switchTask(FlightTaskIndex::AutoFollowMe);
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::AutoFollowMe);
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Follow-Me activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -803,7 +803,7 @@ MulticopterPositionControl::start_flight_task()
} else if (_control_mode.flag_control_auto_enabled) {
// Auto related maneuvers
should_disable_task = false;
int error = 0;
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_auto_mode.get()) {
case 1:
@@ -815,7 +815,7 @@ MulticopterPositionControl::start_flight_task()
break;
}
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Auto activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -832,7 +832,7 @@ MulticopterPositionControl::start_flight_task()
// manual position control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL || task_failure) {
should_disable_task = false;
int error = 0;
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_pos_mode.get()) {
case 1:
@@ -852,7 +852,7 @@ MulticopterPositionControl::start_flight_task()
break;
}
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Position-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -869,7 +869,7 @@ MulticopterPositionControl::start_flight_task()
// manual altitude control
if (_vehicle_status.nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL || task_failure) {
should_disable_task = false;
int error = 0;
FlightTaskError error = FlightTaskError::NoError;
switch (_param_mpc_pos_mode.get()) {
case 1:
@@ -885,7 +885,7 @@ MulticopterPositionControl::start_flight_task()
break;
}
if (error != 0) {
if (error != FlightTaskError::NoError) {
if (prev_failure_count == 0) {
PX4_WARN("Altitude-Ctrl activation failed with error: %s", _flight_tasks.errorToString(error));
}
@@ -908,9 +908,9 @@ MulticopterPositionControl::start_flight_task()
// for some reason no flighttask was able to start.
// go into failsafe flighttask
int error = _flight_tasks.switchTask(FlightTaskIndex::Failsafe);
FlightTaskError error = _flight_tasks.switchTask(FlightTaskIndex::Failsafe);
if (error != 0) {
if (error != FlightTaskError::NoError) {
// No task was activated.
_flight_tasks.switchTask(FlightTaskIndex::None);
}