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vehicle_status_flags.msg: remove condition_ prefix to reduce message size

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Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer
2022-03-23 09:37:01 +01:00
committed by Daniel Agar
parent c30f2b9493
commit a7ddaf08c4
12 changed files with 165 additions and 165 deletions
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src/modules/commander/state_machine_helper.cpp
+39 -39
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@@ -192,14 +192,14 @@ transition_result_t arming_state_transition(vehicle_status_s &status,
true, true, time_since_boot);
if (preflight_check_ret) {
status_flags.condition_system_sensors_initialized = true;
status_flags.system_sensors_initialized = true;
}
feedback_provided = true;
}
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags.condition_system_sensors_initialized
if (!status_flags.system_sensors_initialized
&& fRunPreArmChecks
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
@@ -207,7 +207,7 @@ transition_result_t arming_state_transition(vehicle_status_s &status,
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags.condition_system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status,
status_flags.system_sensors_initialized = PreFlightCheck::preflightCheck(mavlink_log_pub, status,
status_flags, control_mode, false, status.arming_state != vehicle_status_s::ARMING_STATE_ARMED,
time_since_boot);
@@ -246,7 +246,7 @@ transition_result_t arming_state_transition(vehicle_status_s &status,
if (hil_enabled) {
/* enforce lockdown in HIL */
armed.lockdown = true;
status_flags.condition_system_sensors_initialized = true;
status_flags.system_sensors_initialized = true;
/* recover from a prearm fail */
if (status.arming_state == vehicle_status_s::ARMING_STATE_STANDBY_ERROR) {
@@ -264,7 +264,7 @@ transition_result_t arming_state_transition(vehicle_status_s &status,
(status.arming_state != vehicle_status_s::ARMING_STATE_STANDBY_ERROR)) {
// Sensors need to be initialized for STANDBY state, except for HIL
if (!status_flags.condition_system_sensors_initialized) {
if (!status_flags.system_sensors_initialized) {
feedback_provided = true;
valid_transition = false;
}
@@ -333,8 +333,8 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_ALTCTL:
/* need at minimum altitude estimate */
if (status_flags.condition_local_altitude_valid ||
status_flags.condition_global_position_valid) {
if (status_flags.local_altitude_valid ||
status_flags.global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -343,8 +343,8 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_POSCTL:
/* need at minimum local position estimate */
if (status_flags.condition_local_position_valid ||
status_flags.condition_global_position_valid) {
if (status_flags.local_position_valid ||
status_flags.global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -353,7 +353,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_LOITER:
/* need global position estimate */
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -379,8 +379,8 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_MISSION:
/* need global position, home position, and a valid mission */
if (status_flags.condition_global_position_valid &&
status_flags.condition_auto_mission_available) {
if (status_flags.global_position_valid &&
status_flags.auto_mission_available) {
ret = TRANSITION_CHANGED;
}
@@ -390,7 +390,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_RTL:
/* need global position and home position */
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (status_flags.global_position_valid && status_flags.home_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -400,7 +400,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_LAND:
/* need local position */
if (status_flags.condition_local_position_valid) {
if (status_flags.local_position_valid) {
ret = TRANSITION_CHANGED;
}
@@ -409,8 +409,8 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_AUTO_PRECLAND:
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags.condition_local_position_valid
&& status_flags.condition_global_position_valid
if (status_flags.local_position_valid
&& status_flags.global_position_valid
&& status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
ret = TRANSITION_CHANGED;
@@ -863,11 +863,11 @@ bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, or
{
bool fallback_required = false;
if (using_global_pos && !status_flags.condition_global_position_valid) {
if (using_global_pos && !status_flags.global_position_valid) {
fallback_required = true;
} else if (!using_global_pos
&& (!status_flags.condition_local_position_valid || !status_flags.condition_local_velocity_valid)) {
&& (!status_flags.local_position_valid || !status_flags.local_velocity_valid)) {
fallback_required = true;
}
@@ -876,10 +876,10 @@ bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, or
if (use_rc) {
// fallback to a mode that gives the operator stick control
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
&& status_flags.local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
} else if (status_flags.condition_local_altitude_valid) {
} else if (status_flags.local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
} else {
@@ -888,10 +888,10 @@ bool check_invalid_pos_nav_state(vehicle_status_s &status, bool old_failsafe, or
} else {
// go into a descent that does not require stick control
if (status_flags.condition_local_position_valid) {
if (status_flags.local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags.condition_local_altitude_valid) {
} else if (status_flags.local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
@@ -930,7 +930,7 @@ void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
break;
case link_loss_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (status_flags.global_position_valid && status_flags.home_position_valid) {
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state);
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
@@ -938,23 +938,23 @@ void set_link_loss_nav_state(vehicle_status_s &status, actuator_armed_s &armed,
// FALLTHROUGH
case link_loss_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case link_loss_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state);
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
} else {
if (status_flags.condition_local_position_valid) {
if (status_flags.local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags.condition_local_altitude_valid) {
} else if (status_flags.local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
}
@@ -1004,28 +1004,28 @@ void set_offboard_loss_nav_state(vehicle_status_s &status, actuator_armed_s &arm
return;
case offboard_loss_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (status_flags.global_position_valid && status_flags.home_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
}
// FALLTHROUGH
case offboard_loss_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case offboard_loss_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate
if (status_flags.condition_local_altitude_valid) {
if (status_flags.local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -1053,19 +1053,19 @@ void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &
case offboard_loss_rc_actions_t::MANUAL_POSITION:
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
&& status_flags.local_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
} else if (status_flags.condition_global_position_valid) {
} else if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::MANUAL_ALTITUDE:
if (status_flags.condition_local_altitude_valid) {
if (status_flags.local_altitude_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_ALTCTL;
return;
}
@@ -1076,28 +1076,28 @@ void set_offboard_loss_rc_nav_state(vehicle_status_s &status, actuator_armed_s &
return;
case offboard_loss_rc_actions_t::AUTO_RTL:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (status_flags.global_position_valid && status_flags.home_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::AUTO_LOITER:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
return;
}
// FALLTHROUGH
case offboard_loss_rc_actions_t::AUTO_LAND:
if (status_flags.condition_global_position_valid) {
if (status_flags.global_position_valid) {
status.nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;
}
}
// If none of the above worked, try to mitigate
if (status_flags.condition_local_altitude_valid) {
if (status_flags.local_altitude_valid) {
//TODO: Add case for rover
status.nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
@@ -1261,7 +1261,7 @@ void imbalanced_prop_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_statu
case imbalanced_propeller_action_t::RETURN:
if (status_flags.condition_global_position_valid && status_flags.condition_home_position_valid) {
if (status_flags.global_position_valid && status_flags.home_position_valid) {
if (!(internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_RTL ||
internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_LAND ||
internal_state->main_state == commander_state_s::MAIN_STATE_AUTO_PRECLAND)) {