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astyle shift module documentation to bottom of files

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- Astyle chokes on the module description strings, so for now we can keep them near the bottom of each file.
This commit is contained in:
Daniel Agar
2019-11-02 10:58:47 -04:00
committed by GitHub
parent f0ac270174
commit a475d71ca9
16 changed files with 451 additions and 460 deletions
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src/modules/commander/Commander.cpp
+72 -49
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@@ -514,38 +514,6 @@ int commander_main(int argc, char *argv[])
return 1;
}
void usage(const char *reason)
{
if (reason) {
PX4_INFO("%s", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("commander", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");
PRINT_MODULE_USAGE_COMMAND("takeoff");
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}
void print_status()
{
PX4_INFO("arming: %s", arming_state_names[status.arming_state]);
@@ -812,6 +780,7 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
if (cmd_arms) {
if (armed_local->armed) {
mavlink_log_warning(&mavlink_log_pub, "Arming denied! Already armed");
} else {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Not landed");
}
@@ -841,18 +810,18 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
const bool throttle_above_center = (sp_man.z > 0.6f);
if (cmd_arms && throttle_above_center &&
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_POSCTL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ALTCTL)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not centered");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
}
if (cmd_arms && throttle_above_low &&
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)) {
(status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_MANUAL ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_ACRO ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_STAB ||
status_local->nav_state == vehicle_status_s::NAVIGATION_STATE_RATTITUDE)) {
mavlink_log_critical(&mavlink_log_pub, "Arming denied! Throttle not zero");
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
break;
@@ -1090,12 +1059,16 @@ Commander::handle_command(vehicle_status_s *status_local, const vehicle_command_
break;
case vehicle_command_s::VEHICLE_CMD_DO_ORBIT:
// Switch to orbit state and let the orbit task handle the command further
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags, &internal_state)) {
if (TRANSITION_DENIED != main_state_transition(*status_local, commander_state_s::MAIN_STATE_ORBIT, status_flags,
&internal_state)) {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
} else {
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
}
break;
case vehicle_command_s::VEHICLE_CMD_DO_MOTOR_TEST:
@@ -1166,24 +1139,32 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
test_motor.timestamp = hrt_absolute_time();
test_motor.motor_number = (int)(cmd.param1 + 0.5f) - 1;
int throttle_type = (int)(cmd.param2 + 0.5f);
if (throttle_type != 0) { // 0: MOTOR_TEST_THROTTLE_PERCENT
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
int motor_count = (int) (cmd.param5 + 0.5);
int motor_count = (int)(cmd.param5 + 0.5);
if (motor_count > 1) {
return vehicle_command_s::VEHICLE_CMD_RESULT_UNSUPPORTED;
}
test_motor.action = test_motor_s::ACTION_RUN;
test_motor.value = math::constrain(cmd.param3 / 100.f, 0.f, 1.f);
if (test_motor.value < FLT_EPSILON) {
// the message spec is not clear on whether 0 means stop, but it should be closer to what a user expects
test_motor.value = -1.f;
}
test_motor.timeout_ms = (int)(cmd.param4 * 1000.f + 0.5f);
// enforce a timeout and a maximum limit
if (test_motor.timeout_ms == 0 || test_motor.timeout_ms > 3000) {
test_motor.timeout_ms = 3000;
}
test_motor.driver_instance = 0; // the mavlink command does not allow to specify the instance, so set to 0 for now
_test_motor_pub.publish(test_motor);
@@ -1799,6 +1780,7 @@ Commander::run()
/* update subsystem info which arrives from outside of commander*/
subsystem_info_s info;
while (subsys_sub.update(&info)) {
set_health_flags(info.subsystem_type, info.present, info.enabled, info.ok, status);
status_changed = true;
@@ -2411,6 +2393,7 @@ Commander::run()
/* safety switch is not present, do not go into prearmed */
armed.prearmed = false;
}
break;
default:
@@ -2526,13 +2509,20 @@ Commander::run()
void
Commander::get_circuit_breaker_params()
{
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(), CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(), CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(), CBRK_VELPOSERR_KEY);
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(),
CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(),
CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(),
CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(),
CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(),
CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(),
CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(),
CBRK_VELPOSERR_KEY);
}
void
@@ -2697,7 +2687,8 @@ Commander::set_main_state(const vehicle_status_s &status_local, bool *changed)
transition_result_t
Commander::set_main_state_override_on(const vehicle_status_s &status_local, bool *changed)
{
const transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags, &internal_state);
const transition_result_t res = main_state_transition(status_local, commander_state_s::MAIN_STATE_MANUAL, status_flags,
&internal_state);
*changed = (res == TRANSITION_CHANGED);
return res;
@@ -3767,7 +3758,7 @@ bool Commander::preflight_check(bool report)
const bool checkGNSS = (arm_requirements & ARM_REQ_GPS_BIT);
const bool success = Preflight::preflightCheck(&mavlink_log_pub, status, status_flags, checkGNSS, report, false,
hrt_elapsed_time(&commander_boot_timestamp));
hrt_elapsed_time(&commander_boot_timestamp));
if (success) {
status_flags.condition_system_sensors_initialized = true;
@@ -4497,3 +4488,35 @@ void Commander::esc_status_check(const esc_status_s &esc_status)
status_flags.condition_escs_error = true;
}
}
void usage(const char *reason)
{
if (reason) {
PX4_INFO("%s", reason);
}
PRINT_MODULE_DESCRIPTION(
R"DESCR_STR(
### Description
The commander module contains the state machine for mode switching and failsafe behavior.
)DESCR_STR");
PRINT_MODULE_USAGE_NAME("commander", "system");
PRINT_MODULE_USAGE_COMMAND("start");
PRINT_MODULE_USAGE_PARAM_FLAG('h', "Enable HIL mode", true);
PRINT_MODULE_USAGE_COMMAND_DESCR("calibrate", "Run sensor calibration");
PRINT_MODULE_USAGE_ARG("mag|accel|gyro|level|esc|airspeed", "Calibration type", false);
PRINT_MODULE_USAGE_COMMAND_DESCR("check", "Run preflight checks");
PRINT_MODULE_USAGE_COMMAND("arm");
PRINT_MODULE_USAGE_PARAM_FLAG('f', "Force arming (do not run preflight checks)", true);
PRINT_MODULE_USAGE_COMMAND("disarm");
PRINT_MODULE_USAGE_COMMAND("takeoff");
PRINT_MODULE_USAGE_COMMAND("land");
PRINT_MODULE_USAGE_COMMAND_DESCR("transition", "VTOL transition");
PRINT_MODULE_USAGE_COMMAND_DESCR("mode", "Change flight mode");
PRINT_MODULE_USAGE_ARG("manual|acro|offboard|stabilized|rattitude|altctl|posctl|auto:mission|auto:loiter|auto:rtl|auto:takeoff|auto:land|auto:precland",
"Flight mode", false);
PRINT_MODULE_USAGE_COMMAND("lockdown");
PRINT_MODULE_USAGE_ARG("off", "Turn lockdown off", true);
PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
}