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commander: merge duplicated position and velocity validity checks

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This commit is contained in:
Daniel Agar
2020-12-11 15:33:50 -05:00
parent 5cd4a9c73f
commit 6bda8af97c
2 changed files with 37 additions and 66 deletions
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src/modules/commander/Commander.hpp
+6 -7
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@@ -124,12 +124,9 @@ private:
void battery_status_check();
void check_valid(const hrt_abstime &timestamp, const hrt_abstime &timeout, const bool valid_in, bool *valid_out,
bool *changed);
bool check_posvel_validity(const bool data_valid, const float data_accuracy, const float required_accuracy,
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
bool *validity_changed);
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us,
bool *valid_state);
void control_status_leds(bool changed, const uint8_t battery_warning);
@@ -155,7 +152,7 @@ private:
void print_reject_arm(const char *msg);
void print_reject_mode(const char *msg);
void reset_posvel_validity(bool *changed);
void reset_posvel_validity();
bool set_home_position();
bool set_home_position_alt_only();
@@ -170,6 +167,8 @@ private:
void update_control_mode();
void UpdateEstimateValidity();
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(bool *changed);
@@ -177,7 +176,7 @@ private:
transition_result_t set_main_state_override_on(bool *changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(bool *changed);
transition_result_t set_main_state_rc();
bool shutdown_if_allowed();