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commander fix and enforce code style

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This commit is contained in:
Daniel Agar
2018-11-28 17:11:15 -05:00
parent 91721f2060
commit 48d9484ceb
16 changed files with 855 additions and 481 deletions
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34
src/modules/commander/state_machine_helper.cpp
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@@ -126,7 +126,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
if (fRunPreArmChecks && (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
&& !hil_enabled) {
preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags, checkGNSS, true, true, time_since_boot);
preflight_check_ret = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags, checkGNSS, true, true,
time_since_boot);
if (preflight_check_ret) {
status_flags->condition_system_sensors_initialized = true;
@@ -137,13 +138,15 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
/* re-run the pre-flight check as long as sensors are failing */
if (!status_flags->condition_system_sensors_initialized
&& fRunPreArmChecks
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& !hil_enabled) {
&& fRunPreArmChecks
&& ((new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY))
&& !hil_enabled) {
if ((last_preflight_check == 0) || (hrt_elapsed_time(&last_preflight_check) > 1000 * 1000)) {
status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags, checkGNSS, false, false, time_since_boot);
status_flags->condition_system_sensors_initialized = Preflight::preflightCheck(mavlink_log_pub, *status, *status_flags,
checkGNSS, false, false, time_since_boot);
last_preflight_check = hrt_absolute_time();
}
@@ -205,7 +208,8 @@ transition_result_t arming_state_transition(vehicle_status_s *status, const safe
// Finish up the state transition
if (valid_transition) {
armed->armed = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED);
armed->ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED) || (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
armed->ready_to_arm = (new_arming_state == vehicle_status_s::ARMING_STATE_ARMED)
|| (new_arming_state == vehicle_status_s::ARMING_STATE_STANDBY);
ret = TRANSITION_CHANGED;
status->arming_state = new_arming_state;
@@ -972,11 +976,13 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;
case LOW_BAT_ACTION::RETURN:
// FALLTHROUGH
// FALLTHROUGH
case LOW_BAT_ACTION::RETURN_OR_LAND:
// let us send the critical message even if already in RTL
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state)) {
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
internal_state)) {
mavlink_log_critical(mavlink_log_pub, "%s, RETURNING", battery_critical);
} else {
@@ -986,7 +992,8 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;
case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state)) {
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
internal_state)) {
mavlink_log_critical(mavlink_log_pub, "%s, LANDING AT CURRENT POSITION", battery_critical);
} else {
@@ -1008,7 +1015,8 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;
case LOW_BAT_ACTION::RETURN:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags, internal_state)) {
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_RTL, status_flags,
internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "%s, RETURNING", battery_dangerous);
} else {
@@ -1018,9 +1026,11 @@ void battery_failsafe(orb_advert_t *mavlink_log_pub, const vehicle_status_s &sta
break;
case LOW_BAT_ACTION::RETURN_OR_LAND:
// FALLTHROUGH
// FALLTHROUGH
case LOW_BAT_ACTION::LAND:
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags, internal_state)) {
if (TRANSITION_DENIED != main_state_transition(status, commander_state_s::MAIN_STATE_AUTO_LAND, status_flags,
internal_state)) {
mavlink_log_emergency(mavlink_log_pub, "%s, LANDING IMMEDIATELY", battery_dangerous);
} else {