fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-22 00:43:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Changed constant name to UNMANNED_GROUND_VEHICLE

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Commander.cpp
+9 -7
View File
@@ -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
View File
@@ -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
View File
@@ -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;