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commander, navigator: minor cleanup (refactoring), code style fixed

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This commit is contained in:
Anton Babushkin
2014-01-26 11:52:33 +01:00
parent c7f0553938
commit 7d2efe9367
3 changed files with 243 additions and 158 deletions
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src/modules/commander/state_machine_helper.cpp
+14 -10
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@@ -67,7 +67,7 @@ static bool failsafe_state_changed = true;
transition_result_t
arming_state_transition(struct vehicle_status_s *status, const struct safety_s *safety,
arming_state_t new_arming_state, struct actuator_armed_s *armed)
arming_state_t new_arming_state, struct actuator_armed_s *armed)
{
/*
* Perform an atomic state update
@@ -85,6 +85,7 @@ arming_state_transition(struct vehicle_status_s *status, const struct safety_s *
/* enforce lockdown in HIL */
if (status->hil_state == HIL_STATE_ON) {
armed->lockdown = true;
} else {
armed->lockdown = false;
}
@@ -219,7 +220,7 @@ check_arming_state_changed()
}
transition_result_t
main_state_transition(struct vehicle_status_s *current_state, main_state_t new_main_state)
main_state_transition(struct vehicle_status_s *status, main_state_t new_main_state)
{
transition_result_t ret = TRANSITION_DENIED;
@@ -232,9 +233,9 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_SEATBELT:
/* need at minimum altitude estimate */
if (!current_state->is_rotary_wing ||
(current_state->condition_local_altitude_valid ||
current_state->condition_global_position_valid)) {
if (!status->is_rotary_wing ||
(status->condition_local_altitude_valid ||
status->condition_global_position_valid)) {
ret = TRANSITION_CHANGED;
}
@@ -243,8 +244,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_EASY:
/* need at minimum local position estimate */
if (current_state->condition_local_position_valid ||
current_state->condition_global_position_valid) {
if (status->condition_local_position_valid ||
status->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -253,7 +254,7 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
case MAIN_STATE_AUTO:
/* need global position estimate */
if (current_state->condition_global_position_valid) {
if (status->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -261,8 +262,8 @@ main_state_transition(struct vehicle_status_s *current_state, main_state_t new_m
}
if (ret == TRANSITION_CHANGED) {
if (current_state->main_state != new_main_state) {
current_state->main_state = new_main_state;
if (status->main_state != new_main_state) {
status->main_state = new_main_state;
main_state_changed = true;
} else {
@@ -378,11 +379,14 @@ transition_result_t failsafe_state_transition(struct vehicle_status_s *status, f
case FAILSAFE_STATE_NORMAL:
ret = TRANSITION_CHANGED;
break;
case FAILSAFE_STATE_RTL:
if (status->condition_global_position_valid) {
ret = TRANSITION_CHANGED;
}
break;
case FAILSAFE_STATE_TERMINATION:
ret = TRANSITION_CHANGED;
break;