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refactor fw_pos_control_l1: replace BlockParam* with Param* classes

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Also change naming convention: add _ prefix to class attributes
This commit is contained in:
Beat Küng
2018-03-22 08:19:08 +01:00
parent 51ca01ce04
commit b512d11e54
8 changed files with 87 additions and 110 deletions
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src/modules/fw_pos_control_l1/launchdetection/LaunchDetector.cpp
+21 -23
View File
@@ -40,40 +40,38 @@
#include "CatapultLaunchMethod.h"
#include "LaunchDetector.h"
#include <px4_log.h>
namespace launchdetection
{
LaunchDetector::LaunchDetector() :
SuperBlock(nullptr, "LAUN"),
launchdetection_on(this, "ALL_ON")
LaunchDetector::LaunchDetector(ModuleParams *parent) :
ModuleParams(parent)
{
/* init all detectors */
launchMethods[0] = new CatapultLaunchMethod(this);
/* update all parameters of all detectors */
updateParams();
_launchMethods[0] = new CatapultLaunchMethod(this);
}
LaunchDetector::~LaunchDetector()
{
delete launchMethods[0];
delete _launchMethods[0];
}
void LaunchDetector::reset()
{
/* Reset all detectors */
for (const auto launchMethod : launchMethods) {
for (const auto launchMethod : _launchMethods) {
launchMethod->reset();
}
/* Reset active launchdetector */
activeLaunchDetectionMethodIndex = -1;
_activeLaunchDetectionMethodIndex = -1;
}
void LaunchDetector::update(float accel_x)
{
if (launchDetectionEnabled()) {
for (const auto launchMethod : launchMethods) {
for (const auto launchMethod : _launchMethods) {
launchMethod->update(accel_x);
}
}
@@ -82,18 +80,18 @@ void LaunchDetector::update(float accel_x)
LaunchDetectionResult LaunchDetector::getLaunchDetected()
{
if (launchDetectionEnabled()) {
if (activeLaunchDetectionMethodIndex < 0) {
/* None of the active launchmethods has detected a launch, check all launchmethods */
for (unsigned i = 0; i < (sizeof(launchMethods) / sizeof(launchMethods[0])); i++) {
if (launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
PX4_WARN("selecting launchmethod %d", i);
activeLaunchDetectionMethodIndex = i; // from now on only check this method
return launchMethods[i]->getLaunchDetected();
if (_activeLaunchDetectionMethodIndex < 0) {
/* None of the active _launchmethods has detected a launch, check all _launchmethods */
for (unsigned i = 0; i < (sizeof(_launchMethods) / sizeof(_launchMethods[0])); i++) {
if (_launchMethods[i]->getLaunchDetected() != LAUNCHDETECTION_RES_NONE) {
PX4_INFO("selecting launchmethod %d", i);
_activeLaunchDetectionMethodIndex = i; // from now on only check this method
return _launchMethods[i]->getLaunchDetected();
}
}
} else {
return launchMethods[activeLaunchDetectionMethodIndex]->getLaunchDetected();
return _launchMethods[_activeLaunchDetectionMethodIndex]->getLaunchDetected();
}
}
@@ -108,16 +106,16 @@ float LaunchDetector::getPitchMax(float pitchMaxDefault)
/* if a lauchdetectionmethod is active or only one exists return the pitch limit from this method,
* otherwise use the default limit */
if (activeLaunchDetectionMethodIndex < 0) {
if (sizeof(launchMethods) / sizeof(LaunchMethod *) > 1) {
if (_activeLaunchDetectionMethodIndex < 0) {
if (sizeof(_launchMethods) / sizeof(LaunchMethod *) > 1) {
return pitchMaxDefault;
} else {
return launchMethods[0]->getPitchMax(pitchMaxDefault);
return _launchMethods[0]->getPitchMax(pitchMaxDefault);
}
} else {
return launchMethods[activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
return _launchMethods[_activeLaunchDetectionMethodIndex]->getPitchMax(pitchMaxDefault);
}
}