fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 12:23:33 +08:00
Code Issues Packages Projects Releases Wiki Activity

commander: minor refactoring current_status -> status

Browse Source
This commit is contained in:
Anton Babushkin
2014-01-27 13:18:54 +01:00
parent ad51e0a08a
commit 20108ed95d
1 changed files with 29 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/commander.cpp
+29 -29
View File
@@ -199,9 +199,9 @@ void control_status_leds(vehicle_status_s *status, const actuator_armed_s *actua
void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed); void check_valid(hrt_abstime timestamp, hrt_abstime timeout, bool valid_in, bool *valid_out, bool *changed);
void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status); void check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status);
transition_result_t check_main_state_machine(struct vehicle_status_s *current_status); transition_result_t set_main_state_rc(struct vehicle_status_s *status);
void print_reject_mode(const char *msg); void print_reject_mode(const char *msg);
@@ -1140,11 +1140,11 @@ int commander_thread_main(int argc, char *argv[])
transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL); transition_result_t res = failsafe_state_transition(&status, FAILSAFE_STATE_NORMAL);
} }
/* fill current_status according to mode switches */ /* fill status according to mode switches */
check_mode_switches(&sp_man, &status); check_mode_switches(&sp_man, &status);
/* evaluate the main state machine according to mode switches */ /* evaluate the main state machine according to mode switches */
res = check_main_state_machine(&status); res = set_main_state_rc(&status);
if (res == TRANSITION_CHANGED) { if (res == TRANSITION_CHANGED) {
tune_positive(); tune_positive();
@@ -1418,72 +1418,72 @@ control_status_leds(vehicle_status_s *status, const actuator_armed_s *actuator_a
} }
void void
check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *current_status) check_mode_switches(struct manual_control_setpoint_s *sp_man, struct vehicle_status_s *status)
{ {
/* main mode switch */ /* main mode switch */
if (!isfinite(sp_man->mode_switch)) { if (!isfinite(sp_man->mode_switch)) {
warnx("mode sw not finite"); warnx("mode sw not finite");
current_status->mode_switch = MODE_SWITCH_MANUAL; status->mode_switch = MODE_SWITCH_MANUAL;
} else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) { } else if (sp_man->mode_switch > STICK_ON_OFF_LIMIT) {
current_status->mode_switch = MODE_SWITCH_AUTO; status->mode_switch = MODE_SWITCH_AUTO;
} else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) { } else if (sp_man->mode_switch < -STICK_ON_OFF_LIMIT) {
current_status->mode_switch = MODE_SWITCH_MANUAL; status->mode_switch = MODE_SWITCH_MANUAL;
} else { } else {
current_status->mode_switch = MODE_SWITCH_ASSISTED; status->mode_switch = MODE_SWITCH_ASSISTED;
} }
/* return switch */ /* return switch */
if (!isfinite(sp_man->return_switch)) { if (!isfinite(sp_man->return_switch)) {
current_status->return_switch = RETURN_SWITCH_NONE; status->return_switch = RETURN_SWITCH_NONE;
} else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) { } else if (sp_man->return_switch > STICK_ON_OFF_LIMIT) {
current_status->return_switch = RETURN_SWITCH_RETURN; status->return_switch = RETURN_SWITCH_RETURN;
} else { } else {
current_status->return_switch = RETURN_SWITCH_NORMAL; status->return_switch = RETURN_SWITCH_NORMAL;
} }
/* assisted switch */ /* assisted switch */
if (!isfinite(sp_man->assisted_switch)) { if (!isfinite(sp_man->assisted_switch)) {
current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
} else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) { } else if (sp_man->assisted_switch > STICK_ON_OFF_LIMIT) {
current_status->assisted_switch = ASSISTED_SWITCH_EASY; status->assisted_switch = ASSISTED_SWITCH_EASY;
} else { } else {
current_status->assisted_switch = ASSISTED_SWITCH_SEATBELT; status->assisted_switch = ASSISTED_SWITCH_SEATBELT;
} }
/* mission switch */ /* mission switch */
if (!isfinite(sp_man->mission_switch)) { if (!isfinite(sp_man->mission_switch)) {
current_status->mission_switch = MISSION_SWITCH_NONE; status->mission_switch = MISSION_SWITCH_NONE;
} else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) { } else if (sp_man->mission_switch > STICK_ON_OFF_LIMIT) {
current_status->mission_switch = MISSION_SWITCH_LOITER; status->mission_switch = MISSION_SWITCH_LOITER;
} else { } else {
current_status->mission_switch = MISSION_SWITCH_MISSION; status->mission_switch = MISSION_SWITCH_MISSION;
} }
} }
transition_result_t transition_result_t
check_main_state_machine(struct vehicle_status_s *current_status) set_main_state_rc(struct vehicle_status_s *status)
{ {
/* evaluate the main state machine */ /* evaluate the main state machine */
transition_result_t res = TRANSITION_DENIED; transition_result_t res = TRANSITION_DENIED;
switch (current_status->mode_switch) { switch (status->mode_switch) {
case MODE_SWITCH_MANUAL: case MODE_SWITCH_MANUAL:
res = main_state_transition(current_status, MAIN_STATE_MANUAL); res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here // TRANSITION_DENIED is not possible here
break; break;
case MODE_SWITCH_ASSISTED: case MODE_SWITCH_ASSISTED:
if (current_status->assisted_switch == ASSISTED_SWITCH_EASY) { if (status->assisted_switch == ASSISTED_SWITCH_EASY) {
res = main_state_transition(current_status, MAIN_STATE_EASY); res = main_state_transition(status, MAIN_STATE_EASY);
if (res != TRANSITION_DENIED) if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state break; // changed successfully or already in this state
@@ -1492,34 +1492,34 @@ check_main_state_machine(struct vehicle_status_s *current_status)
print_reject_mode("EASY"); print_reject_mode("EASY");
} }
res = main_state_transition(current_status, MAIN_STATE_SEATBELT); res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED) if (res != TRANSITION_DENIED)
break; // changed successfully or already in this mode break; // changed successfully or already in this mode
if (current_status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages if (status->assisted_switch != ASSISTED_SWITCH_EASY) // don't print both messages
print_reject_mode("SEATBELT"); print_reject_mode("SEATBELT");
// else fallback to MANUAL // else fallback to MANUAL
res = main_state_transition(current_status, MAIN_STATE_MANUAL); res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here // TRANSITION_DENIED is not possible here
break; break;
case MODE_SWITCH_AUTO: case MODE_SWITCH_AUTO:
res = main_state_transition(current_status, MAIN_STATE_AUTO); res = main_state_transition(status, MAIN_STATE_AUTO);
if (res != TRANSITION_DENIED) if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state break; // changed successfully or already in this state
// else fallback to SEATBELT (EASY likely will not work too) // else fallback to SEATBELT (EASY likely will not work too)
print_reject_mode("AUTO"); print_reject_mode("AUTO");
res = main_state_transition(current_status, MAIN_STATE_SEATBELT); res = main_state_transition(status, MAIN_STATE_SEATBELT);
if (res != TRANSITION_DENIED) if (res != TRANSITION_DENIED)
break; // changed successfully or already in this state break; // changed successfully or already in this state
// else fallback to MANUAL // else fallback to MANUAL
res = main_state_transition(current_status, MAIN_STATE_MANUAL); res = main_state_transition(status, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here // TRANSITION_DENIED is not possible here
break; break;