fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-10 23:01:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

vtol/fw/mc: fix VTOL enum shadowing

Browse Source 
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
This commit is contained in:
Julian Oes
2019-05-29 23:51:10 -04:00
committed by Daniel Agar
parent 4b3f68f90c
commit 2ac8841f35
10 changed files with 72 additions and 72 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/vtol_att_control/standard.cpp
+26 -26
View File
@@ -51,7 +51,7 @@ using namespace matrix;
Standard::Standard(VtolAttitudeControl *attc) :
VtolType(attc)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_vtol_schedule.transition_start = 0;
_pusher_active = false;
@@ -118,39 +118,39 @@ void Standard::update_vtol_state()
if (!_attc->is_fixed_wing_requested()) {
// the transition to fw mode switch is off
if (_vtol_schedule.flight_mode == MC_MODE) {
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
// in mc mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (_vtol_schedule.flight_mode == FW_MODE) {
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// transition to mc mode
if (_vtol_vehicle_status->vtol_transition_failsafe == true) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else {
// Regular backtransition
_vtol_schedule.flight_mode = TRANSITION_TO_MC;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// transition to MC mode if transition time has passed or forward velocity drops below MPC cruise speed
const Dcmf R_to_body(Quatf(_v_att->q).inversed());
@@ -160,33 +160,33 @@ void Standard::update_vtol_state()
if (time_since_trans_start > _params->back_trans_duration ||
(_local_pos->v_xy_valid && x_vel <= _params->mpc_xy_cruise)) {
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
}
}
} else {
// the transition to fw mode switch is on
if (_vtol_schedule.flight_mode == MC_MODE || _vtol_schedule.flight_mode == TRANSITION_TO_MC) {
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// start transition to fw mode
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
* unsafe flying state. */
_vtol_schedule.flight_mode = TRANSITION_TO_FW;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();
} else if (_vtol_schedule.flight_mode == FW_MODE) {
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// in fw mode
_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
mc_weight = 0.0f;
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params->airspeed_disabled ||
_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) &&
time_since_trans_start > _params->front_trans_time_min) ||
can_transition_on_ground()) {
_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
// don't set pusher throttle here as it's being ramped up elsewhere
_trans_finished_ts = hrt_absolute_time();
@@ -202,19 +202,19 @@ void Standard::update_vtol_state()
// map specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
case vtol_mode::MC_MODE:
_vtol_mode = mode::ROTARY_WING;
break;
case FW_MODE:
case vtol_mode::FW_MODE:
_vtol_mode = mode::FIXED_WING;
break;
case TRANSITION_TO_FW:
case vtol_mode::TRANSITION_TO_FW:
_vtol_mode = mode::TRANSITION_TO_FW;
break;
case TRANSITION_TO_MC:
case vtol_mode::TRANSITION_TO_MC:
_vtol_mode = mode::TRANSITION_TO_MC;
break;
}
@@ -230,7 +230,7 @@ void Standard::update_transition_state()
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));
if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
if (_params_standard.pusher_ramp_dt <= 0.0f) {
// just set the final target throttle value
_pusher_throttle = _params->front_trans_throttle;
@@ -270,7 +270,7 @@ void Standard::update_transition_state()
}
}
} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// maintain FW_PSP_OFF
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
@@ -294,8 +294,8 @@ void Standard::update_transition_state()
}
// in back transition we need to start the MC motors again
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
}
@@ -416,7 +416,7 @@ void Standard::fill_actuator_outputs()
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;
if (_vtol_schedule.flight_mode != MC_MODE) {
if (_vtol_schedule.flight_mode != vtol_mode::MC_MODE) {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
@@ -454,7 +454,7 @@ void Standard::fill_actuator_outputs()
}
// set the fixed wing throttle control
if (_vtol_schedule.flight_mode == FW_MODE) {
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// take the throttle value commanded by the fw controller
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =