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Commander: switch helper functions to pass by reference

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This commit is contained in:
Matthias Grob 2021-03-30 20:13:51 +02:00 committed by Daniel Agar
parent 0fa91f7cb0
commit d97fba67e5
3 changed files with 41 additions and 41 deletions
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24
src/modules/commander/Commander.cpp
View File

@ -822,7 +822,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
const bool forced = (static_cast<int>(roundf(cmd.param2)) == 21196);
if (!forced) {
if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(&_status)) {
if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) {
if (cmd_arms) {
if (_armed.armed) {
mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed");
@ -1603,21 +1603,21 @@ Commander::run()
/* update vehicle status to find out vehicle type (required for preflight checks) */
_status.system_type = _param_mav_type.get();
if (is_rotary_wing(&_status) || is_vtol(&_status)) {
if (is_rotary_wing(_status) || is_vtol(_status)) {
_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROTARY_WING;
} else if (is_fixed_wing(&_status)) {
} else if (is_fixed_wing(_status)) {
_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_FIXED_WING;
} else if (is_ground_rover(&_status)) {
} else if (is_ground_rover(_status)) {
_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_ROVER;
} else {
_status.vehicle_type = vehicle_status_s::VEHICLE_TYPE_UNKNOWN;
}
_status.is_vtol = is_vtol(&_status);
_status.is_vtol_tailsitter = is_vtol_tailsitter(&_status);
_status.is_vtol = is_vtol(_status);
_status.is_vtol_tailsitter = is_vtol_tailsitter(_status);
_boot_timestamp = hrt_absolute_time();
@ -1668,9 +1668,9 @@ Commander::run()
if (!_armed.armed) {
_status.system_type = _param_mav_type.get();
const bool is_rotary = is_rotary_wing(&_status) || (is_vtol(&_status) && _vtol_status.vtol_in_rw_mode);
const bool is_fixed = is_fixed_wing(&_status) || (is_vtol(&_status) && !_vtol_status.vtol_in_rw_mode);
const bool is_ground = is_ground_rover(&_status);
const bool is_rotary = is_rotary_wing(_status) || (is_vtol(_status) && _vtol_status.vtol_in_rw_mode);
const bool is_fixed = is_fixed_wing(_status) || (is_vtol(_status) && !_vtol_status.vtol_in_rw_mode);
const bool is_ground = is_ground_rover(_status);
/* disable manual override for all systems that rely on electronic stabilization */
if (is_rotary) {
@ -1684,8 +1684,8 @@ Commander::run()
}
/* set vehicle_status.is_vtol flag */
_status.is_vtol = is_vtol(&_status);
_status.is_vtol_tailsitter = is_vtol_tailsitter(&_status);
_status.is_vtol = is_vtol(_status);
_status.is_vtol_tailsitter = is_vtol_tailsitter(_status);
/* check and update system / component ID */
_status.system_id = _param_mav_sys_id.get();
@ -1890,7 +1890,7 @@ Commander::run()
_status.vtol_fw_permanent_stab = _vtol_status.fw_permanent_stab;
/* Make sure that this is only adjusted if vehicle really is of type vtol */
if (is_vtol(&_status)) {
if (is_vtol(_status)) {
// Check if there has been any change while updating the flags
const auto new_vehicle_type = _vtol_status.vtol_in_rw_mode ?

46
src/modules/commander/commander_helper.cpp
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@ -82,45 +82,45 @@
#define BLINK_MSG_TIME 700000 // 3 fast blinks (in us)
bool is_multirotor(const struct vehicle_status_s *current_status)
bool is_multirotor(const vehicle_status_s &current_status)
{
return ((current_status->system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status->system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status->system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status->system_type == VEHICLE_TYPE_TRICOPTER));
return ((current_status.system_type == VEHICLE_TYPE_QUADROTOR) ||
(current_status.system_type == VEHICLE_TYPE_HEXAROTOR) ||
(current_status.system_type == VEHICLE_TYPE_OCTOROTOR) ||
(current_status.system_type == VEHICLE_TYPE_TRICOPTER));
}
bool is_rotary_wing(const struct vehicle_status_s *current_status)
bool is_rotary_wing(const vehicle_status_s &current_status)
{
return is_multirotor(current_status) || (current_status->system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status->system_type == VEHICLE_TYPE_COAXIAL);
return is_multirotor(current_status) || (current_status.system_type == VEHICLE_TYPE_HELICOPTER)
|| (current_status.system_type == VEHICLE_TYPE_COAXIAL);
}
bool is_vtol(const struct vehicle_status_s *current_status)
bool is_vtol(const vehicle_status_s &current_status)
{
return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
current_status->system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED2 ||
current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED3 ||
current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED4 ||
current_status->system_type == VEHICLE_TYPE_VTOL_RESERVED5);
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_TILTROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED2 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED3 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED4 ||
current_status.system_type == VEHICLE_TYPE_VTOL_RESERVED5);
}
bool is_vtol_tailsitter(const struct vehicle_status_s *current_status)
bool is_vtol_tailsitter(const vehicle_status_s &current_status)
{
return (current_status->system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status->system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
return (current_status.system_type == VEHICLE_TYPE_VTOL_DUOROTOR ||
current_status.system_type == VEHICLE_TYPE_VTOL_QUADROTOR);
}
bool is_fixed_wing(const struct vehicle_status_s *current_status)
bool is_fixed_wing(const vehicle_status_s &current_status)
{
return current_status->system_type == VEHICLE_TYPE_FIXED_WING;
return current_status.system_type == VEHICLE_TYPE_FIXED_WING;
}
bool is_ground_rover(const struct vehicle_status_s *current_status)
bool is_ground_rover(const vehicle_status_s &current_status)
{
return current_status->system_type == VEHICLE_TYPE_GROUND_ROVER;
return current_status.system_type == VEHICLE_TYPE_GROUND_ROVER;
}
static hrt_abstime blink_msg_end = 0; // end time for currently blinking LED message, 0 if no blink message

12
src/modules/commander/commander_helper.h
View File

@ -50,12 +50,12 @@
#include <drivers/drv_board_led.h>
bool is_multirotor(const struct vehicle_status_s *current_status);
bool is_rotary_wing(const struct vehicle_status_s *current_status);
bool is_vtol(const struct vehicle_status_s *current_status);
bool is_vtol_tailsitter(const struct vehicle_status_s *current_status);
bool is_fixed_wing(const struct vehicle_status_s *current_status);
bool is_ground_rover(const struct vehicle_status_s *current_status);
bool is_multirotor(const vehicle_status_s &current_status);
bool is_rotary_wing(const vehicle_status_s &current_status);
bool is_vtol(const vehicle_status_s &current_status);
bool is_vtol_tailsitter(const vehicle_status_s &current_status);
bool is_fixed_wing(const vehicle_status_s &current_status);
bool is_ground_rover(const vehicle_status_s &current_status);
int buzzer_init(void);
void buzzer_deinit(void);