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Changed constant name to UNMANNED_GROUND_VEHICLE

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This commit is contained in:
Timothy Scott
2019-06-13 10:04:26 +02:00
committed by Julian Oes
parent 714c90b9db
commit 21760a5856
19 changed files with 39 additions and 32 deletions
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src/modules/commander/Commander.cpp
+9 -7
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@@ -1297,7 +1297,7 @@ Commander::run()
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground_rover(&status)) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
} else {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
@@ -1407,9 +1407,9 @@ Commander::run()
status.system_type = (uint8_t)system_type;
}
bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
bool is_ground = is_ground_rover(&status);
const bool is_rotary = is_rotary_wing(&status) || (is_vtol(&status) && vtol_status.vtol_in_rw_mode);
const bool is_fixed = is_fixed_wing(&status) || (is_vtol(&status) && !vtol_status.vtol_in_rw_mode);
const bool is_ground = is_ground_rover(&status);
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary) {
@@ -1419,7 +1419,7 @@ Commander::run()
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground) {
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_GROUND;
status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
}
/* set vehicle_status.is_vtol flag */
@@ -1642,9 +1642,11 @@ Commander::run()
if (is_vtol(&status)) {
// Check if there has been any change while updating the flags
bool is_rotary = status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
const auto new_vehicle_type = vtol_status.vtol_in_rw_mode ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
if (is_rotary != vtol_status.vtol_in_rw_mode) {
if (new_vehicle_type != status.vehicle_type) {
status.vehicle_type = vtol_status.vtol_in_rw_mode ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING :
vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
src/modules/commander/commander_tests/state_machine_helper_test.cpp
+1 -1
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@@ -507,7 +507,7 @@ bool StateMachineHelperTest::mainStateTransitionTest()
struct vehicle_status_flags_s current_status_flags = {};
current_commander_state.main_state = test->from_state;
current_vehicle_status.vehicle_type = test->condition_bits & MTT_ROTARY_WING ?
current_vehicle_status.vehicle_type = (test->condition_bits & MTT_ROTARY_WING) ?
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING : vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
current_status_flags.condition_local_altitude_valid = test->condition_bits & MTT_LOC_ALT_VALID;
current_status_flags.condition_local_position_valid = test->condition_bits & MTT_LOC_POS_VALID;
src/modules/commander/state_machine_helper.cpp
+1
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@@ -691,6 +691,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
} else if (status_flags.condition_local_altitude_valid) {
//TODO: Add case for rover
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
src/modules/land_detector/land_detector_main.cpp
+2 -2
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@@ -76,7 +76,7 @@ int LandDetector::task_spawn(int argc, char *argv[])
} else if (strcmp(argv[1], "vtol") == 0) {
obj = new VtolLandDetector();
} else if (strcmp(argv[1], "ugv") == 0) {
} else if (strcmp(argv[1], "rover") == 0) {
obj = new RoverLandDetector();
} else {
@@ -165,7 +165,7 @@ The module runs periodically on the HP work queue.
PRINT_MODULE_USAGE_NAME("land_detector", "system");
PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start the background task");
PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|ugv", "Select vehicle type", false);
PRINT_MODULE_USAGE_ARG("fixedwing|multicopter|vtol|rover", "Select vehicle type", false);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
return 0;
}
src/modules/navigator/mission_block.cpp
+5 -3
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@@ -335,10 +335,12 @@ MissionBlock::is_mission_item_reached()
&& PX4_ISFINITE(_mission_item.yaw))) {
/* check course if defined only for rotary wing except takeoff */
float cog = _navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
? _navigator->get_global_position()->yaw : atan2f(
float cog = (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) ?
_navigator->get_global_position()->yaw :
atan2f(
_navigator->get_global_position()->vel_e,
_navigator->get_global_position()->vel_n);
_navigator->get_global_position()->vel_n
);
float yaw_err = wrap_pi(_mission_item.yaw - cog);