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refactor vehicle_status_flags: rename to failsafe_flags

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This commit is contained in:
Beat Küng
2022-10-13 08:58:40 +02:00
committed by Daniel Agar
parent f9c8e760b1
commit d542ffc10c
34 changed files with 125 additions and 126 deletions
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src/modules/commander/Commander.cpp
+11 -11
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@@ -542,7 +542,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
if (run_preflight_checks && !_arm_state_machine.isArmed()) {
if (_vehicle_control_mode.flag_control_manual_enabled) {
if (_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_vehicle_status_flags.manual_control_signal_lost && _is_throttle_above_center) {
!_failsafe_flags.manual_control_signal_lost && _is_throttle_above_center) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: throttle above center\t");
events::send(events::ID("commander_arm_denied_throttle_center"),
{events::Log::Critical, events::LogInternal::Info},
@@ -552,7 +552,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
}
if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
!_vehicle_status_flags.manual_control_signal_lost && !_is_throttle_low
!_failsafe_flags.manual_control_signal_lost && !_is_throttle_low
&& _vehicle_status.vehicle_type != vehicle_status_s::VEHICLE_TYPE_ROVER) {
mavlink_log_critical(&_mavlink_log_pub, "Arming denied: high throttle\t");
events::send(events::ID("commander_arm_denied_throttle_high"),
@@ -1052,7 +1052,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_ack_s::VEHICLE_CMD_RESULT_DENIED;
// check if current mission and first item are valid
if (!_vehicle_status_flags.auto_mission_missing) {
if (!_failsafe_flags.auto_mission_missing) {
// requested first mission item valid
if (PX4_ISFINITE(cmd.param1) && (cmd.param1 >= -1) && (cmd.param1 < _mission_result_sub.get().seq_total)) {
@@ -1791,7 +1791,7 @@ void Commander::run()
_actuator_armed.prearmed = getPrearmState();
// publish states (armed, control_mode, vehicle_status, vehicle_status_flags, failure_detector_status) at 2 Hz or immediately when changed
// publish states (armed, control_mode, vehicle_status, failure_detector_status) at 2 Hz or immediately when changed
if (now - _vehicle_status.timestamp >= 500_ms || _status_changed || nav_state_or_failsafe_changed
|| !(_actuator_armed == actuator_armed_prev)) {
@@ -1869,7 +1869,7 @@ void Commander::checkForMissionUpdate()
if (mission_result_ok) {
/* Only evaluate mission state if home is set */
if (!_vehicle_status_flags.home_position_invalid &&
if (!_failsafe_flags.home_position_invalid &&
(prev_mission_instance_count != mission_result.instance_count)) {
if (!auto_mission_available) {
@@ -2196,7 +2196,7 @@ bool Commander::handleModeIntentionAndFailsafe()
uint8_t updated_user_intented_mode = _failsafe.update(hrt_absolute_time(), state, mode_change_requested,
_failsafe_user_override_request,
_vehicle_status_flags);
_failsafe_flags);
_failsafe_user_override_request = false;
// Force intended mode if changed by the failsafe state machine
@@ -2339,7 +2339,7 @@ void Commander::control_status_leds(bool changed, const uint8_t battery_warning)
led_color = led_control_s::COLOR_RED;
} else {
if (!_vehicle_status_flags.home_position_invalid && !_vehicle_status_flags.global_position_invalid) {
if (!_failsafe_flags.home_position_invalid && !_failsafe_flags.global_position_invalid) {
led_color = led_control_s::COLOR_GREEN;
} else {
@@ -2698,9 +2698,9 @@ void Commander::dataLinkCheck()
void Commander::battery_status_check()
{
// Handle shutdown request from emergency battery action
if (_battery_warning != _vehicle_status_flags.battery_warning) {
if (_battery_warning != _failsafe_flags.battery_warning) {
if (_vehicle_status_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
if (_failsafe_flags.battery_warning == battery_status_s::BATTERY_WARNING_EMERGENCY) {
#if defined(BOARD_HAS_POWER_CONTROL)
if (shutdownIfAllowed() && (px4_shutdown_request(60_s) == 0)) {
@@ -2723,7 +2723,7 @@ void Commander::battery_status_check()
}
}
_battery_warning = _vehicle_status_flags.battery_warning;
_battery_warning = _failsafe_flags.battery_warning;
}
void Commander::manualControlCheck()
@@ -2786,7 +2786,7 @@ void Commander::manualControlCheck()
void Commander::offboardControlCheck()
{
if (_offboard_control_mode_sub.update()) {
if (_vehicle_status_flags.offboard_control_signal_lost) {
if (_failsafe_flags.offboard_control_signal_lost) {
// Run arming checks immediately to allow for offboard mode activation
_status_changed = true;
}