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vtol/fw/mc: fix VTOL enum shadowing

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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
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src/modules/vtol_att_control/tiltrotor.cpp
+9 -9
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@@ -180,20 +180,20 @@ void Tiltrotor::update_vtol_state()
// map tiltrotor specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_mode = mode::ROTARY_WING;
break;
case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_mode = mode::FIXED_WING;
break;
case TRANSITION_FRONT_P1:
case TRANSITION_FRONT_P2:
_vtol_mode = TRANSITION_TO_FW;
_vtol_mode = mode::TRANSITION_TO_FW;
break;
case TRANSITION_BACK:
_vtol_mode = TRANSITION_TO_MC;
_vtol_mode = mode::TRANSITION_TO_MC;
break;
}
}
@@ -227,8 +227,8 @@ void Tiltrotor::update_transition_state()
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
// for the first part of the transition the rear rotors are enabled
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);
}
// tilt rotors forward up to certain angle
@@ -277,14 +277,14 @@ void Tiltrotor::update_transition_state()
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;
_motor_state = set_motor_state(_motor_state, VALUE, rear_value);
_motor_state = set_motor_state(_motor_state, motor_state::VALUE, rear_value);
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
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);
}