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commander RC handling: Fix -Wshadow warnings.

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Lorenz Meier
2014-07-13 11:45:02 +02:00
parent f2b30be92a
commit 66d5bc20c0
1 changed files with 21 additions and 21 deletions
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42
src/modules/commander/commander.cpp
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@@ -1727,16 +1727,16 @@ control_status_leds(vehicle_status_s *status_local, const actuator_armed_s *actu
}
transition_result_t
set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoint_s *sp_man)
set_main_state_rc(struct vehicle_status_s *status_local, struct manual_control_setpoint_s *sp_man)
{
/* set main state according to RC switches */
transition_result_t res = TRANSITION_DENIED;
/* offboard switch overrides main switch */
if (sp_man->offboard_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_OFFBOARD);
res = main_state_transition(status_local, MAIN_STATE_OFFBOARD);
if (res == TRANSITION_DENIED) {
print_reject_mode(status, "OFFBOARD");
print_reject_mode(status_local, "OFFBOARD");
} else {
return res;
@@ -1751,78 +1751,78 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
case SWITCH_POS_OFF: // MANUAL
if (sp_man->acro_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_ACRO);
res = main_state_transition(status_local, MAIN_STATE_ACRO);
} else {
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
}
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_MIDDLE: // ASSIST
if (sp_man->posctl_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_POSCTL);
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "POSCTL");
print_reject_mode(status_local, "POSCTL");
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this mode
}
if (sp_man->posctl_switch != SWITCH_POS_ON) {
print_reject_mode(status, "ALTCTL");
print_reject_mode(status_local, "ALTCTL");
}
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;
case SWITCH_POS_ON: // AUTO
if (sp_man->return_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_AUTO_RTL);
res = main_state_transition(status_local, MAIN_STATE_AUTO_RTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_RTL");
print_reject_mode(status_local, "AUTO_RTL");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
} else if (sp_man->loiter_switch == SWITCH_POS_ON) {
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_LOITER");
print_reject_mode(status_local, "AUTO_LOITER");
} else {
res = main_state_transition(status, MAIN_STATE_AUTO_MISSION);
res = main_state_transition(status_local, MAIN_STATE_AUTO_MISSION);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
print_reject_mode(status, "AUTO_MISSION");
print_reject_mode(status_local, "AUTO_MISSION");
// fallback to LOITER if home position not set
res = main_state_transition(status, MAIN_STATE_AUTO_LOITER);
res = main_state_transition(status_local, MAIN_STATE_AUTO_LOITER);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
@@ -1830,21 +1830,21 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin
}
// fallback to POSCTL
res = main_state_transition(status, MAIN_STATE_POSCTL);
res = main_state_transition(status_local, MAIN_STATE_POSCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to ALTCTL
res = main_state_transition(status, MAIN_STATE_ALTCTL);
res = main_state_transition(status_local, MAIN_STATE_ALTCTL);
if (res != TRANSITION_DENIED) {
break; // changed successfully or already in this state
}
// fallback to MANUAL
res = main_state_transition(status, MAIN_STATE_MANUAL);
res = main_state_transition(status_local, MAIN_STATE_MANUAL);
// TRANSITION_DENIED is not possible here
break;