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vtol_att_control vtol_type enum -> enum class

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This commit is contained in:
Daniel Agar
2019-05-30 09:04:08 -04:00
parent d13dfdcd24
commit a10b1afb54
4 changed files with 57 additions and 57 deletions
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src/modules/vtol_att_control/tiltrotor.cpp
+29 -29
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@@ -47,7 +47,7 @@
Tiltrotor::Tiltrotor(VtolAttitudeControl *attc) :
VtolType(attc)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_vtol_schedule.transition_start = 0;
_mc_roll_weight = 1.0f;
@@ -96,29 +96,29 @@ void Tiltrotor::update_vtol_state()
// plane is in multicopter mode
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
case vtol_mode::MC_MODE:
break;
case FW_MODE:
_vtol_schedule.flight_mode = TRANSITION_BACK;
case vtol_mode::FW_MODE:
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_BACK;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
case TRANSITION_FRONT_P1:
case vtol_mode::TRANSITION_FRONT_P1:
// failsafe into multicopter mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
break;
case TRANSITION_FRONT_P2:
case vtol_mode::TRANSITION_FRONT_P2:
// failsafe into multicopter mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
break;
case TRANSITION_BACK:
case vtol_mode::TRANSITION_BACK:
float time_since_trans_start = (float)(hrt_absolute_time() - _vtol_schedule.transition_start) * 1e-6f;
if (_tilt_control <= _params_tiltrotor.tilt_mc && time_since_trans_start > _params->back_trans_duration) {
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
}
break;
@@ -127,16 +127,16 @@ void Tiltrotor::update_vtol_state()
} else {
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
case vtol_mode::MC_MODE:
// initialise a front transition
_vtol_schedule.flight_mode = TRANSITION_FRONT_P1;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P1;
_vtol_schedule.transition_start = hrt_absolute_time();
break;
case FW_MODE:
case vtol_mode::FW_MODE:
break;
case TRANSITION_FRONT_P1: {
case vtol_mode::TRANSITION_FRONT_P1: {
// allow switch if we are not armed for the sake of bench testing
bool transition_to_p2 = can_transition_on_ground();
@@ -153,46 +153,46 @@ void Tiltrotor::update_vtol_state()
time_since_trans_start > _params->front_trans_time_openloop;
if (transition_to_p2) {
_vtol_schedule.flight_mode = TRANSITION_FRONT_P2;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_FRONT_P2;
_vtol_schedule.transition_start = hrt_absolute_time();
}
break;
}
case TRANSITION_FRONT_P2:
case vtol_mode::TRANSITION_FRONT_P2:
// if the rotors have been tilted completely we switch to fw mode
if (_tilt_control >= _params_tiltrotor.tilt_fw) {
_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
_tilt_control = _params_tiltrotor.tilt_fw;
}
break;
case TRANSITION_BACK:
case vtol_mode::TRANSITION_BACK:
// failsafe into fixed wing mode
_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
break;
}
}
// map tiltrotor specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
case vtol_mode::MC_MODE:
_vtol_mode = mode::ROTARY_WING;
break;
case FW_MODE:
case vtol_mode::FW_MODE:
_vtol_mode = mode::FIXED_WING;
break;
case TRANSITION_FRONT_P1:
case TRANSITION_FRONT_P2:
case vtol_mode::TRANSITION_FRONT_P1:
case vtol_mode::TRANSITION_FRONT_P2:
_vtol_mode = mode::TRANSITION_TO_FW;
break;
case TRANSITION_BACK:
case vtol_mode::TRANSITION_BACK:
_vtol_mode = mode::TRANSITION_TO_MC;
break;
}
@@ -225,7 +225,7 @@ void Tiltrotor::update_transition_state()
_flag_was_in_trans_mode = true;
}
if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P1) {
// for the first part of the transition the rear rotors are enabled
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
@@ -263,7 +263,7 @@ void Tiltrotor::update_transition_state()
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P2) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_FRONT_P2) {
// the plane is ready to go into fixed wing mode, tilt the rotors forward completely
_tilt_control = _params_tiltrotor.tilt_transition +
fabsf(_params_tiltrotor.tilt_fw - _params_tiltrotor.tilt_transition) * time_since_trans_start /
@@ -282,7 +282,7 @@ void Tiltrotor::update_transition_state()
_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];
} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_BACK) {
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
@@ -345,7 +345,7 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_0->control[actuator_controls_s::INDEX_YAW] =
_actuators_mc_in->control[actuator_controls_s::INDEX_YAW] * _mc_yaw_weight;
if (_vtol_schedule.flight_mode == FW_MODE) {
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
_actuators_out_0->control[actuator_controls_s::INDEX_THROTTLE] =
_actuators_fw_in->control[actuator_controls_s::INDEX_THROTTLE];
@@ -366,7 +366,7 @@ void Tiltrotor::fill_actuator_outputs()
_actuators_out_1->control[4] = _tilt_control;
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == MC_MODE) {
if (_params->elevons_mc_lock && _vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_PITCH] = 0.0f;
_actuators_out_1->control[actuator_controls_s::INDEX_YAW] = 0.0f;