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commander: move some flags out of vehicle_status

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All the removed flags were not used anywhere else than inside the
commander.
This commit is contained in:
Julian Oes
2016-02-26 11:01:12 +00:00
parent 0988fef831
commit 70cff975cc
4 changed files with 88 additions and 77 deletions
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33
src/modules/commander/state_machine_helper.cpp
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@@ -114,8 +114,9 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
arming_state_t new_arming_state,
struct actuator_armed_s *armed,
bool fRunPreArmChecks,
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags)
orb_advert_t *mavlink_log_pub, ///< uORB handle for mavlink log
status_flags_s *status_flags,
float avionics_power_rail_voltage)
{
// Double check that our static arrays are still valid
ASSERT(vehicle_status_s::ARMING_STATE_INIT == 0);
@@ -221,17 +222,17 @@ transition_result_t arming_state_transition(struct vehicle_status_s *status,
// Fail transition if power levels on the avionics rail
// are measured but are insufficient
if (status_flags->condition_power_input_valid && (status->avionics_power_rail_voltage > 0.0f)) {
if (status_flags->condition_power_input_valid && (avionics_power_rail_voltage > 0.0f)) {
// Check avionics rail voltages
if (status->avionics_power_rail_voltage < AVIONICS_ERROR_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
if (avionics_power_rail_voltage < 4.5f) {
mavlink_and_console_log_critical(mavlink_log_pub, "NOT ARMING: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
feedback_provided = true;
valid_transition = false;
} else if (status->avionics_power_rail_voltage < AVIONICS_WARN_VOLTAGE) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)status->avionics_power_rail_voltage);
} else if (avionics_power_rail_voltage < 4.9f) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power low: %6.2f Volt", (double)avionics_power_rail_voltage);
feedback_provided = true;
} else if (status->avionics_power_rail_voltage > 5.4f) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt", (double)status->avionics_power_rail_voltage);
} else if (avionics_power_rail_voltage > 5.4f) {
mavlink_and_console_log_critical(mavlink_log_pub, "CAUTION: Avionics power high: %6.2f Volt", (double)avionics_power_rail_voltage);
feedback_provided = true;
}
}
@@ -613,7 +614,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
case vehicle_status_s::MAIN_STATE_ALTCTL:
case vehicle_status_s::MAIN_STATE_POSCTL:
/* require RC for all manual modes */
if ((status->rc_signal_lost || status->rc_signal_lost_cmd) && armed && !landed) {
if ((status->rc_signal_lost || status_flags->rc_signal_lost_cmd) && armed && !landed) {
status->failsafe = true;
if (status_flags->condition_global_position_valid && status_flags->condition_home_position_valid) {
@@ -670,21 +671,21 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
/* first look at the commands */
if (status->engine_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->data_link_lost_cmd) {
} else if (status_flags->data_link_lost_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status->gps_failure_cmd) {
} else if (status_flags->gps_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->rc_signal_lost_cmd) {
} else if (status_flags->rc_signal_lost_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->vtol_transition_failure_cmd) {
} else if (status_flags->vtol_transition_failure_cmd) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
/* finished handling commands which have priority, now handle failures */
} else if (status->gps_failure) {
} else if (status_flags->gps_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDGPSFAIL;
} else if (status->engine_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LANDENGFAIL;
} else if (status->vtol_transition_failure) {
} else if (status_flags->vtol_transition_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;
} else if (status->mission_failure) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTL;