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vtol_vehicle_status: replace several status bools by single vehicle_vtol_state

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Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state.

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-01-20 12:55:06 +01:00
parent 635f64a2e5
commit 2b7efeacca
6 changed files with 45 additions and 38 deletions
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src/modules/commander/Commander.cpp
+20 -14
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@@ -827,7 +827,7 @@ Commander::Commander() :
_status_flags.rc_calibration_valid = true;
// default for vtol is rotary wing
_vtol_status.vtol_in_rw_mode = true;
_vtol_status.vehicle_vtol_state = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;
_vehicle_gps_position_valid.set_hysteresis_time_from(false, GPS_VALID_TIME);
_vehicle_gps_position_valid.set_hysteresis_time_from(true, GPS_VALID_TIME);
@@ -2083,8 +2083,10 @@ void Commander::updateParameters()
_auto_disarm_killed.set_hysteresis_time_from(false, _param_com_kill_disarm.get() * 1_s);
_offboard_available.set_hysteresis_time_from(true, _param_com_of_loss_t.get() * 1_s);
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_rotary = is_rotary_wing(_status) || (is_vtol(_status)
&& _vtol_status.vehicle_vtol_state != vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_fixed = is_fixed_wing(_status) || (is_vtol(_status)
&& _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW);
const bool is_ground = is_ground_rover(_status);
/* disable manual override for all systems that rely on electronic stabilization */
@@ -2304,25 +2306,29 @@ Commander::run()
/* Make sure that this is only adjusted if vehicle really is of type vtol */
if (is_vtol(_status)) {
// Check if there has been any change while updating the flags
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;
// Check if there has been any change while updating the flags (transition = rotary wing status)
const auto new_vehicle_type = _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW ?
vehicle_status_s::VEHICLE_TYPE_FIXED_WING :
vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
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;
_status.vehicle_type = new_vehicle_type;
_status_changed = true;
}
if (_status.in_transition_mode != _vtol_status.vtol_in_trans_mode) {
_status.in_transition_mode = _vtol_status.vtol_in_trans_mode;
const bool new_in_transition = _vtol_status.vehicle_vtol_state ==
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW
|| _vtol_status.vehicle_vtol_state == vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_MC;
if (_status.in_transition_mode != new_in_transition) {
_status.in_transition_mode = new_in_transition;
_status_changed = true;
}
if (_status.in_transition_to_fw != _vtol_status.in_transition_to_fw) {
_status.in_transition_to_fw = _vtol_status.in_transition_to_fw;
if (_status.in_transition_to_fw != (_vtol_status.vehicle_vtol_state ==
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW)) {
_status.in_transition_to_fw = (_vtol_status.vehicle_vtol_state ==
vtol_vehicle_status_s::VEHICLE_VTOL_STATE_TRANSITION_TO_FW);
_status_changed = true;
}