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Move Vehicle Command Result Enum defs to Vehicle Command Ack (#19729)

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- As it is always only used for the vehicle command ack message
- It was a duplicate, hence making it error prone for maintainment
- The uORB message comments were updated to make the relationship with
the MAVLink message / enum definitions clear
This commit is contained in:
Junwoo Hwang
2022-07-07 16:15:11 +02:00
committed by GitHub
parent af4038aa7e
commit 32ae00fd44
23 changed files with 212 additions and 209 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/commander/Arming/ArmAuthorization/ArmAuthorization.cpp
+12 -12
View File
@@ -110,10 +110,10 @@ static uint8_t _auth_method_arm_req_check()
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
/* handling ARM_AUTH_IDLE */
@@ -148,7 +148,7 @@ static uint8_t _auth_method_arm_req_check()
}
return state == ARM_AUTH_MISSION_APPROVED ?
vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED : vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
static uint8_t _auth_method_two_arm_check()
@@ -159,14 +159,14 @@ static uint8_t _auth_method_two_arm_check()
break;
case ARM_AUTH_MISSION_APPROVED:
return vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED;
case ARM_AUTH_WAITING_AUTH:
case ARM_AUTH_WAITING_AUTH_WITH_ACK:
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
default:
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
/* handling ARM_AUTH_IDLE */
@@ -179,7 +179,7 @@ static uint8_t _auth_method_two_arm_check()
mavlink_log_info(mavlink_log_pub, "Arm auth: Requesting authorization...");
return vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
uint8_t arm_auth_check()
@@ -188,7 +188,7 @@ uint8_t arm_auth_check()
return arm_check_method[_param_com_arm_auth_method]();
}
return vehicle_command_ack_s::VEHICLE_RESULT_DENIED;
return vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
}
void arm_auth_update(hrt_abstime now, bool param_update)
@@ -232,11 +232,11 @@ void arm_auth_update(hrt_abstime now, bool param_update)
&& command_ack.target_system == *system_id
&& command_ack.timestamp > auth_req_time) {
switch (command_ack.result) {
case vehicle_command_ack_s::VEHICLE_RESULT_IN_PROGRESS:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_IN_PROGRESS:
state = ARM_AUTH_WAITING_AUTH_WITH_ACK;
break;
case vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED:
mavlink_log_info(mavlink_log_pub,
"Arm auth: Authorized for the next %" PRId32 " seconds",
command_ack.result_param2);
@@ -244,12 +244,12 @@ void arm_auth_update(hrt_abstime now, bool param_update)
auth_timeout = command_ack.timestamp + (command_ack.result_param2 * 1000000);
return;
case vehicle_command_ack_s::VEHICLE_RESULT_TEMPORARILY_REJECTED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED:
mavlink_log_critical(mavlink_log_pub, "Arm auth: Temporarily rejected");
state = ARM_AUTH_IDLE;
return;
case vehicle_command_ack_s::VEHICLE_RESULT_DENIED:
case vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED:
default:
switch (command_ack.result_param1) {
case vehicle_command_ack_s::ARM_AUTH_DENIED_REASON_NONE:
src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp
+1 -1
View File
@@ -240,7 +240,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
// check last, and only if everything else has passed
// skip arm authorization check until actual arming attempt
if (arm_authorization_configured && prearm_ok && is_arm_attempt) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_RESULT_ACCEPTED) {
if (arm_auth_check() != vehicle_command_ack_s::VEHICLE_CMD_RESULT_ACCEPTED) {
// feedback provided in arm_auth_check
prearm_ok = false;
}