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commander: internalize system status bools

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Most condition bools in the commander are not used anywhere but in the
commander. It therefore makes sense to move them to a different internal
struct and remove them from the vehicle_status message.

Also, the land_detected should be used by all the modules instead of
getting it through the commander and system_status.
This commit is contained in:
Julian Oes
2016-04-11 18:01:47 +02:00
parent 705979e3c7
commit 1f44fb1efd
18 changed files with 450 additions and 332 deletions
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src/modules/navigator/mission.cpp
+7 -7
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@@ -144,7 +144,7 @@ Mission::on_inactive()
check_mission_valid();
/* require takeoff after non-loiter or landing */
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_vstatus()->condition_landed) {
if (!_navigator->get_can_loiter_at_sp() || _navigator->get_land_detected()->landed) {
_need_takeoff = true;
}
}
@@ -278,7 +278,7 @@ Mission::update_offboard_mission()
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->get_land_detected()->landed);
_navigator->get_mission_result()->valid = !failed;
if (!failed) {
@@ -413,7 +413,7 @@ Mission::set_mission_items()
* https://en.wikipedia.org/wiki/Loiter_(aeronautics)
*/
if (_navigator->get_vstatus()->condition_landed) {
if (_navigator->get_land_detected()->landed) {
/* landed, refusing to take off without a mission */
mavlink_log_critical(_navigator->get_mavlink_log_pub(), "no valid mission available, refusing takeoff");
@@ -585,7 +585,7 @@ Mission::set_mission_items()
if (_mission_item.nav_cmd == NAV_CMD_DO_VTOL_TRANSITION
&& _work_item_type != WORK_ITEM_TYPE_ALIGN
&& _navigator->get_vstatus()->is_rotary_wing
&& !_navigator->get_vstatus()->condition_landed
&& !_navigator->get_land_detected()->landed
&& has_next_position_item) {
new_work_item_type = WORK_ITEM_TYPE_ALIGN;
@@ -658,7 +658,7 @@ Mission::do_need_takeoff()
float takeoff_alt = calculate_takeoff_altitude(&_mission_item);
/* force takeoff if landed (additional protection) */
if (_navigator->get_vstatus()->condition_landed) {
if (_navigator->get_land_detected()->landed) {
_need_takeoff = true;
/* if in-air and already above takeoff height, don't do takeoff */
@@ -752,7 +752,7 @@ Mission::calculate_takeoff_altitude(struct mission_item_s *mission_item)
float takeoff_alt = get_absolute_altitude_for_item(*mission_item);
/* takeoff to at least NAV_TAKEOFF_ALT above home/ground, even if first waypoint is lower */
if (_navigator->get_vstatus()->condition_landed) {
if (_navigator->get_land_detected()->landed) {
takeoff_alt = fmaxf(takeoff_alt, _navigator->get_global_position()->alt + _param_takeoff_alt.get());
} else {
@@ -1118,7 +1118,7 @@ Mission::check_mission_valid()
_navigator->get_home_position()->alt, _navigator->home_position_valid(),
_navigator->get_global_position()->lat, _navigator->get_global_position()->lon,
_param_dist_1wp.get(), _navigator->get_mission_result()->warning, _navigator->get_default_acceptance_radius(),
_navigator->get_vstatus()->condition_landed);
_navigator->get_land_detected()->landed);
_navigator->increment_mission_instance_count();
_navigator->set_mission_result_updated();