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[refactor] Using MAVlink minimal defined enums instead of commander_helper duplicate of MAVLink defined enum

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Tomas Twardzik
2025-02-10 14:29:55 +01:00
parent ce64263ce7
commit 7004dec876
2 changed files with 17 additions and 32 deletions
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src/modules/commander/commander_helper.cpp
+16 -32
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@@ -63,63 +63,47 @@
#include "commander_helper.h"
#define VEHICLE_TYPE_FIXED_WING 1
#define VEHICLE_TYPE_QUADROTOR 2
#define VEHICLE_TYPE_COAXIAL 3
#define VEHICLE_TYPE_HELICOPTER 4
#define VEHICLE_TYPE_GROUND_ROVER 10
#define VEHICLE_TYPE_BOAT 11
#define VEHICLE_TYPE_SUBMARINE 12
#define VEHICLE_TYPE_HEXAROTOR 13
#define VEHICLE_TYPE_OCTOROTOR 14
#define VEHICLE_TYPE_TRICOPTER 15
#define VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR 19
#define VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR 20
#define VEHICLE_TYPE_VTOL_TILTROTOR 21
#define VEHICLE_TYPE_VTOL_FIXEDROTOR 22 // VTOL standard
#define VEHICLE_TYPE_VTOL_TAILSITTER 23
#define BLINK_MSG_TIME 700000 // 3 fast blinks (in us)
bool is_multirotor(const vehicle_status_s &current_status)
{
return ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status.system_type == VEHICLE_TYPE_TRICOPTER));
return ((current_status.system_type == MAV_TYPE_QUADROTOR) ||
(current_status.system_type == MAV_TYPE_HEXAROTOR) ||
(current_status.system_type == MAV_TYPE_OCTOROTOR) ||
(current_status.system_type == MAV_TYPE_TRICOPTER));
}
bool is_rotary_wing(const vehicle_status_s &current_status)
{
return is_multirotor(current_status)
|| (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status.system_type == VEHICLE_TYPE_COAXIAL);
|| (current_status.system_type == MAV_TYPE_HELICOPTER
|| (current_status.system_type == MAV_TYPE_COAXIAL));
}
bool is_vtol(const vehicle_status_s &current_status)
{
return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_FIXEDROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
return (current_status.system_type == MAV_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == MAV_TYPE_VTOL_TILTROTOR ||
current_status.system_type == MAV_TYPE_VTOL_FIXEDROTOR ||
current_status.system_type == MAV_TYPE_VTOL_TAILSITTER);
}
bool is_vtol_tailsitter(const vehicle_status_s &current_status)
{
return (current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TAILSITTER);
return (current_status.system_type == MAV_TYPE_VTOL_TAILSITTER_DUOROTOR ||
current_status.system_type == MAV_TYPE_VTOL_TAILSITTER_QUADROTOR ||
current_status.system_type == MAV_TYPE_VTOL_TAILSITTER);
}
bool is_fixed_wing(const vehicle_status_s &current_status)
{
return current_status.system_type == VEHICLE_TYPE_FIXED_WING;
return current_status.system_type == MAV_TYPE_FIXED_WING;
}
bool is_ground_vehicle(const vehicle_status_s &current_status)
{
return (current_status.system_type == VEHICLE_TYPE_BOAT || current_status.system_type == VEHICLE_TYPE_GROUND_ROVER);
return (current_status.system_type == MAV_TYPE_SURFACE_BOAT || current_status.system_type == MAV_TYPE_GROUND_ROVER);
}
// End time for currently blinking LED message, 0 if no blink message
src/modules/commander/commander_helper.h
+1
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@@ -48,6 +48,7 @@
#include <uORB/topics/vehicle_control_mode.h>
#include <drivers/drv_led.h>
#include <drivers/drv_board_led.h>
#include <mavlink/minimal/mavlink.h>
bool is_multirotor(const vehicle_status_s &current_status);