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ManualControl: name, message, comment, const qualifier improvements

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addressing review from @bresch, @julianoes and @JonasVautherin
This commit is contained in:
Matthias Grob
2021-03-03 21:44:40 +01:00
parent 2f39651f77
commit 5bbc66f3af
3 changed files with 15 additions and 20 deletions
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src/modules/commander/ManualControl.cpp
+6 -11
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@@ -44,7 +44,7 @@ enum OverrideBits {
bool ManualControl::update()
{
bool ret = false;
bool updated = false;
if (_manual_control_setpoint_sub.updated()) {
manual_control_setpoint_s manual_control_setpoint;
@@ -53,17 +53,17 @@ bool ManualControl::update()
process(manual_control_setpoint);
}
ret = true;
updated = true;
}
_rc_available = _rc_allowed
&& _manual_control_setpoint.timestamp != 0
&& (hrt_elapsed_time(&_manual_control_setpoint.timestamp) < (_param_com_rc_loss_t.get() * 1_s));
return ret && _rc_available;
return updated && _rc_available;
}
void ManualControl::process(manual_control_setpoint_s &manual_control_setpoint)
void ManualControl::process(const manual_control_setpoint_s &manual_control_setpoint)
{
_last_manual_control_setpoint = _manual_control_setpoint;
_manual_control_setpoint = manual_control_setpoint;
@@ -83,6 +83,7 @@ bool ManualControl::wantsOverride(const vehicle_control_mode_s &vehicle_control_
const bool rpy_moved = (fabsf(_manual_control_setpoint.x - _last_manual_control_setpoint.x) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.y - _last_manual_control_setpoint.y) > minimum_stick_change)
|| (fabsf(_manual_control_setpoint.r - _last_manual_control_setpoint.r) > minimum_stick_change);
// Throttle change value doubled to achieve the same scaling even though the range is [0,1] instead of [-1,1]
const bool throttle_moved =
(fabsf(_manual_control_setpoint.z - _last_manual_control_setpoint.z) * 2.f > minimum_stick_change);
const bool use_throttle = !(_param_rc_override.get() & OverrideBits::OVERRIDE_IGNORE_THROTTLE_BIT);
@@ -101,11 +102,8 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
{
bool ret = false;
// no switch or button is mapped
const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
// arm switch mapped and "switch is button" configured
const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
// arm switch mapped and "switch_is_button" configured
const bool use_switch = !use_stick && !use_button;
const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);
@@ -143,15 +141,12 @@ bool ManualControl::wantsDisarm(const vehicle_control_mode_s &vehicle_control_mo
}
bool ManualControl::wantsArm(const vehicle_control_mode_s &vehicle_control_mode, const vehicle_status_s &vehicle_status,
manual_control_switches_s &manual_control_switches, const bool landed)
const manual_control_switches_s &manual_control_switches, const bool landed)
{
bool ret = false;
// no switch or button is mapped
const bool use_stick = manual_control_switches.arm_switch == manual_control_switches_s::SWITCH_POS_NONE;
// arm switch mapped and "switch is button" configured
const bool use_button = !use_stick && _param_com_arm_swisbtn.get();
// arm switch mapped and "switch_is_button" configured
const bool use_switch = !use_stick && !use_button;
const bool armed = (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED);