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commander: move vehicle_status into class

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This commit is contained in:
Daniel Agar
2020-12-01 11:53:57 -05:00
committed by Beat Küng
parent b7de10fca3
commit c305774fae
2 changed files with 250 additions and 246 deletions
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src/modules/commander/Commander.cpp
+244 -241
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File diff suppressed because it is too large Load Diff
src/modules/commander/Commander.hpp
+6 -5
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@@ -129,7 +129,7 @@ private:
const hrt_abstime &data_timestamp_us, hrt_abstime *last_fail_time_us, hrt_abstime *probation_time_us, bool *valid_state,
bool *validity_changed);
void control_status_leds(vehicle_status_s *status_local, bool changed, const uint8_t battery_warning);
void control_status_leds(bool changed, const uint8_t battery_warning);
/**
* Checks the status of all available data links and handles switching between different system telemetry states.
@@ -142,7 +142,7 @@ private:
void estimator_check();
bool handle_command(vehicle_status_s *status, const vehicle_command_s &cmd);
bool handle_command(const vehicle_command_s &cmd);
unsigned handle_command_motor_test(const vehicle_command_s &cmd);
@@ -162,13 +162,13 @@ private:
void update_control_mode();
// Set the main system state based on RC and override device inputs
transition_result_t set_main_state(const vehicle_status_s &status, bool *changed);
transition_result_t set_main_state(bool *changed);
// Enable override (manual reversion mode) on the system
transition_result_t set_main_state_override_on(const vehicle_status_s &status, bool *changed);
transition_result_t set_main_state_override_on(bool *changed);
// Set the system main state based on the current RC inputs
transition_result_t set_main_state_rc(const vehicle_status_s &status, bool *changed);
transition_result_t set_main_state_rc(bool *changed);
bool shutdown_if_allowed();
@@ -380,6 +380,7 @@ private:
geofence_result_s _geofence_result{};
vehicle_land_detected_s _land_detector{};
safety_s _safety{};
vehicle_status_s _status{};
vehicle_status_flags_s _status_flags{};
vtol_vehicle_status_s _vtol_status{};