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commander state machine helper pass battery and safety as const references

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This commit is contained in:
Daniel Agar
2018-03-27 16:27:47 -04:00
parent 4ccfc280c8
commit db7e8635a2
4 changed files with 48 additions and 98 deletions
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src/modules/commander/state_machine_helper.cpp
+14 -15
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@@ -96,16 +96,16 @@ void set_link_loss_nav_state(vehicle_status_s *status,
void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, const link_loss_actions_t link_loss_act);
transition_result_t arming_state_transition(vehicle_status_s *status,
battery_status_s *battery,
const struct safety_s *safety,
arming_state_t new_arming_state,
const battery_status_s& battery,
const safety_s& safety,
const arming_state_t new_arming_state,
actuator_armed_s *armed,
bool fRunPreArmChecks,
const bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
vehicle_status_flags_s *status_flags,
float avionics_power_rail_voltage,
uint8_t arm_requirements,
hrt_abstime time_since_boot)
const float avionics_power_rail_voltage,
const uint8_t arm_requirements,
const hrt_abstime& time_since_boot)
{
// Double check that our static arrays are still valid
static_assert(vehicle_status_s::ARMING_STATE_INIT == 0, "ARMING_STATE_INIT == 0");
@@ -146,9 +146,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
arm_requirements & ARM_REQ_GPS_BIT, true, status->is_vtol, true, true, time_since_boot);
prearm_ret = prearm_check(status, mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery, arm_requirements,
time_since_boot);
prearm_ret = prearm_check(mavlink_log_pub, true /* pre-arm */, false /* force_report */,
status_flags, battery, arm_requirements, time_since_boot);
if (!preflight_check) {
prearm_ret = false;
@@ -219,7 +218,7 @@ transition_result_t arming_state_transition(vehicle_status_s *status,
// Fail transition if we need safety switch press
} else if (safety->safety_switch_available && !safety->safety_off) {
} else if (safety.safety_switch_available && !safety.safety_off) {
mavlink_log_critical(mavlink_log_pub, "NOT ARMING: Press safety switch first!");
feedback_provided = true;
@@ -1045,9 +1044,9 @@ void reset_link_loss_globals(actuator_armed_s *armed, const bool old_failsafe, c
}
}
int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool prearm, bool force_report,
vehicle_status_flags_s *status_flags, battery_status_s *battery, uint8_t arm_requirements,
hrt_abstime time_since_boot)
int prearm_check(orb_advert_t *mavlink_log_pub, const bool prearm, const bool force_report,
vehicle_status_flags_s *status_flags, const battery_status_s& battery, const uint8_t arm_requirements,
const hrt_abstime& time_since_boot)
{
bool reportFailures = force_report || (!status_flags->condition_system_prearm_error_reported &&
status_flags->condition_system_hotplug_timeout);
@@ -1061,7 +1060,7 @@ int prearm_check(vehicle_status_s *status, orb_advert_t *mavlink_log_pub, bool p
}
}
if (!status_flags->circuit_breaker_engaged_power_check && battery->warning >= battery_status_s::BATTERY_WARNING_LOW) {
if (!status_flags->circuit_breaker_engaged_power_check && battery.warning >= battery_status_s::BATTERY_WARNING_LOW) {
prearm_ok = false;
if (reportFailures) {