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commander: split up set_main_state_rc entering condition

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pure refactor of the huge condition into smaller const bool junks
This commit is contained in:
Matthias Grob
2019-04-25 08:44:07 +01:00
committed by Lorenz Meier
parent 21194239c7
commit 1f3ebd98b1
1 changed files with 16 additions and 13 deletions
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src/modules/commander/Commander.cpp
+16 -13
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@@ -2730,20 +2730,23 @@ Commander::set_main_state_rc(const vehicle_status_s &status_local, bool *changed
// we want to allow rc mode change to take precidence. This is a safety
// feature, just in case offboard control goes crazy.
const bool position_got_valid = !_last_condition_global_position_valid && status_flags.condition_global_position_valid;
const bool had_rc_before = _last_sp_man.timestamp != 0;
const bool rc_values_not_updated = _last_sp_man.timestamp == sp_man.timestamp;
const bool all_switches_stayed =
(_last_sp_man.offboard_switch == sp_man.offboard_switch)
&& (_last_sp_man.return_switch == sp_man.return_switch)
&& (_last_sp_man.mode_switch == sp_man.mode_switch)
&& (_last_sp_man.acro_switch == sp_man.acro_switch)
&& (_last_sp_man.rattitude_switch == sp_man.rattitude_switch)
&& (_last_sp_man.posctl_switch == sp_man.posctl_switch)
&& (_last_sp_man.loiter_switch == sp_man.loiter_switch)
&& (_last_sp_man.mode_slot == sp_man.mode_slot)
&& (_last_sp_man.stab_switch == sp_man.stab_switch)
&& (_last_sp_man.man_switch == sp_man.man_switch);
/* manual setpoint has not updated, do not re-evaluate it */
if (!(!_last_condition_global_position_valid &&
status_flags.condition_global_position_valid)
&& (((_last_sp_man.timestamp != 0) && (_last_sp_man.timestamp == sp_man.timestamp)) ||
((_last_sp_man.offboard_switch == sp_man.offboard_switch) &&
(_last_sp_man.return_switch == sp_man.return_switch) &&
(_last_sp_man.mode_switch == sp_man.mode_switch) &&
(_last_sp_man.acro_switch == sp_man.acro_switch) &&
(_last_sp_man.rattitude_switch == sp_man.rattitude_switch) &&
(_last_sp_man.posctl_switch == sp_man.posctl_switch) &&
(_last_sp_man.loiter_switch == sp_man.loiter_switch) &&
(_last_sp_man.mode_slot == sp_man.mode_slot) &&
(_last_sp_man.stab_switch == sp_man.stab_switch) &&
(_last_sp_man.man_switch == sp_man.man_switch)))) {
if (!position_got_valid && ((had_rc_before && rc_values_not_updated) || all_switches_stayed)) {
// store the last manual control setpoint set by the pilot in a manual state
// if the system now later enters an autonomous state the pilot can move