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Removed is_rotor_wing, replaced with vehicle_type

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This commit is contained in:
Timothy Scott
2019-06-11 12:54:22 +02:00
committed by Julian Oes
parent 2ca40bfc65
commit a134da6e12
21 changed files with 150 additions and 85 deletions
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19
src/modules/commander/state_machine_helper.cpp
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@@ -298,7 +298,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
case commander_state_s::MAIN_STATE_ORBIT:
/* Follow and orbit only implemented for multicopter */
if (status.is_rotary_wing) {
if (status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
ret = TRANSITION_CHANGED;
}
@@ -339,7 +339,7 @@ main_state_transition(const vehicle_status_s &status, const main_state_t new_mai
/* need local and global position, and precision land only implemented for multicopters */
if (status_flags.condition_local_position_valid
&& status_flags.condition_global_position_valid
&& status.is_rotary_wing) {
&& status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
ret = TRANSITION_CHANGED;
}
@@ -469,7 +469,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
} else if (is_armed
&& check_invalid_pos_nav_state(status, old_failsafe, mavlink_log_pub, status_flags, !(posctl_nav_loss_act == 1),
!status->is_rotary_wing)) {
status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_FIXED_WING)) {
// nothing to do - everything done in check_invalid_pos_nav_state
} else {
@@ -691,7 +691,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
} else if (status_flags.condition_local_altitude_valid) {
if (status->is_rotary_wing) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -730,7 +730,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags.condition_local_altitude_valid) {
if (status->is_rotary_wing) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -747,7 +747,7 @@ bool set_nav_state(vehicle_status_s *status, actuator_armed_s *armed, commander_
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LOITER;
} else if (status_flags.condition_local_altitude_valid) {
if (status->is_rotary_wing) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -788,7 +788,8 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or
if (fallback_required) {
if (use_rc) {
// fallback to a mode that gives the operator stick control
if (status->is_rotary_wing && status_flags.condition_local_position_valid) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING
&& status_flags.condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_POSCTL;
} else if (status_flags.condition_local_altitude_valid) {
@@ -804,7 +805,7 @@ bool check_invalid_pos_nav_state(vehicle_status_s *status, bool old_failsafe, or
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status_flags.condition_local_altitude_valid) {
if (status->is_rotary_wing) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -869,7 +870,7 @@ void set_link_loss_nav_state(vehicle_status_s *status, actuator_armed_s *armed,
return;
} else {
if (status->is_rotary_wing) {
if (status->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
if (status_flags.condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
return;