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added circuit_breaker_enabled_by_val()

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added and using circuit_breaker_enabled_by_val() where possible instead of circuit_breaker_enabled() which search for cbrk parameters by name, which is extensive process.
This commit is contained in:
bazooka joe
2019-09-20 11:45:20 +03:00
committed by Daniel Agar
parent c18104d48b
commit fb3a91cc4f
8 changed files with 34 additions and 18 deletions
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src/modules/commander/Commander.cpp
+8 -12
View File
@@ -188,8 +188,6 @@ void usage(const char *reason);
void control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actuator_armed, bool changed,
const uint8_t battery_warning, const cpuload_s *cpuload_local);
void get_circuit_breaker_params();
bool stabilization_required();
void print_reject_mode(const char *msg);
@@ -2469,17 +2467,15 @@ Commander::run()
}
void
get_circuit_breaker_params()
Commander::get_circuit_breaker_params()
{
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled("CBRK_SUPPLY_CHK", CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled("CBRK_USB_CHK", CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled("CBRK_AIRSPD_CHK", CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled("CBRK_ENGINEFAIL",
CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled("CBRK_GPSFAIL", CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled("CBRK_FLIGHTTERM",
CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled("CBRK_VELPOSERR", CBRK_VELPOSERR_KEY);
status_flags.circuit_breaker_engaged_power_check = circuit_breaker_enabled_by_val(_param_cbrk_supply_chk.get(), CBRK_SUPPLY_CHK_KEY);
status_flags.circuit_breaker_engaged_usb_check = circuit_breaker_enabled_by_val(_param_cbrk_usb_chk.get(), CBRK_USB_CHK_KEY);
status_flags.circuit_breaker_engaged_airspd_check = circuit_breaker_enabled_by_val(_param_cbrk_airspd_chk.get(), CBRK_AIRSPD_CHK_KEY);
status_flags.circuit_breaker_engaged_enginefailure_check = circuit_breaker_enabled_by_val(_param_cbrk_enginefail.get(), CBRK_ENGINEFAIL_KEY);
status_flags.circuit_breaker_engaged_gpsfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_gpsfail.get(), CBRK_GPSFAIL_KEY);
status_flags.circuit_breaker_flight_termination_disabled = circuit_breaker_enabled_by_val(_param_cbrk_flightterm.get(), CBRK_FLIGHTTERM_KEY);
status_flags.circuit_breaker_engaged_posfailure_check = circuit_breaker_enabled_by_val(_param_cbrk_velposerr.get(), CBRK_VELPOSERR_KEY);
}
void
src/modules/commander/Commander.hpp
+11 -2
View File
@@ -97,6 +97,8 @@ public:
// TODO: only temporarily static until low priority thread is removed
static bool preflight_check(bool report);
void get_circuit_breaker_params();
private:
DEFINE_PARAMETERS(
@@ -114,7 +116,7 @@ private:
(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
(ParamFloat<px4::params::COM_POS_FS_EPH>) _param_com_pos_fs_eph,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv,
(ParamFloat<px4::params::COM_POS_FS_EPV>) _param_com_pos_fs_epv, /*Not realy used for now*/
(ParamFloat<px4::params::COM_VEL_FS_EVH>) _param_com_vel_fs_evh,
(ParamInt<px4::params::COM_POSCTL_NAVL>) _param_com_posctl_navl, /* failsafe response to loss of navigation accuracy */
@@ -142,8 +144,15 @@ private:
(ParamInt<px4::params::COM_OBL_ACT>) _param_com_obl_act,
(ParamInt<px4::params::COM_OBL_RC_ACT>) _param_com_obl_rc_act,
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode
(ParamInt<px4::params::COM_PREARM_MODE>) _param_com_prearm_mode,
(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
(ParamInt<px4::params::CBRK_USB_CHK>) _param_cbrk_usb_chk,
(ParamInt<px4::params::CBRK_AIRSPD_CHK>) _param_cbrk_airspd_chk,
(ParamInt<px4::params::CBRK_ENGINEFAIL>) _param_cbrk_enginefail,
(ParamInt<px4::params::CBRK_GPSFAIL>) _param_cbrk_gpsfail,
(ParamInt<px4::params::CBRK_FLIGHTTERM>) _param_cbrk_flightterm,
(ParamInt<px4::params::CBRK_VELPOSERR>) _param_cbrk_velposerr
)
enum class PrearmedMode {