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Changed constant name to UNMANNED_GROUND_VEHICLE

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This commit is contained in:
Timothy Scott
2019-05-02 10:26:42 +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;