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AC_Avoidance: make _output_level AP_Enum 

Also remove namespacing from OA_DbOutputLevel
This commit is contained in:
Peter Barker 2022-01-17 16:17:32 +11:00 committed by Randy Mackay
parent 75ef9a27cb
commit 1aa5a8f789
2 changed files with 12 additions and 12 deletions
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12
libraries/AC_Avoidance/AP_OADatabase.cpp
View File

@ -68,7 +68,7 @@ const AP_Param::GroupInfo AP_OADatabase::var_info[] = {
// @Description: OADatabase output level to configure which database objects are sent to the ground station. All data is always available internally for avoidance algorithms.
// @Values: 0:Disabled,1:Send only HIGH importance items,2:Send HIGH and NORMAL importance items,3:Send all items
// @User: Advanced
AP_GROUPINFO("OUTPUT", 4, AP_OADatabase, _output_level, (float)OA_DbOutputLevel::OUTPUT_LEVEL_SEND_HIGH),
AP_GROUPINFO("OUTPUT", 4, AP_OADatabase, _output_level, (float)OutputLevel::HIGH),
// @Param: BEAM_WIDTH
// @DisplayName: OADatabase beam width
@ -97,7 +97,7 @@ const AP_Param::GroupInfo AP_OADatabase::var_info[] = {
// @Param{Copter}: ALT_MIN
// @DisplayName: OADatabase minimum altitude above home before storing obstacles
// @Description: OADatabase will reject obstacle's if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.
// @Description: OADatabase will reject obstacles if vehicle's altitude above home is below this parameter, in a 3 meter radius around home. Set 0 to disable this feature.
// @Units: m
// @Range: 0 4
// @User: Advanced
@ -210,19 +210,19 @@ uint8_t AP_OADatabase::get_send_to_gcs_flags(const OA_DbItemImportance importanc
{
switch (importance) {
case OA_DbItemImportance::Low:
if (_output_level.get() >= (int8_t)OA_DbOutputLevel::OUTPUT_LEVEL_SEND_ALL) {
if (_output_level >= OutputLevel::ALL) {
return 0xFF;
}
break;
case OA_DbItemImportance::Normal:
if (_output_level.get() >= (int8_t)OA_DbOutputLevel::OUTPUT_LEVEL_SEND_HIGH_AND_NORMAL) {
if (_output_level >= OutputLevel::HIGH_AND_NORMAL) {
return 0xFF;
}
break;
case OA_DbItemImportance::High:
if (_output_level.get() >= (int8_t)OA_DbOutputLevel::OUTPUT_LEVEL_SEND_HIGH) {
if (_output_level >= OutputLevel::HIGH) {
return 0xFF;
}
break;
@ -372,7 +372,7 @@ void AP_OADatabase::send_adsb_vehicle(mavlink_channel_t chan, uint16_t interval_
static_assert(MAVLINK_COMM_NUM_BUFFERS <= sizeof(OA_DbItem::send_to_gcs) * 8,
"AP_OADatabase's OA_DBItem.send_to_gcs bitmask must be large enough to hold MAVLINK_COMM_NUM_BUFFERS");
if ((_output_level.get() <= (int8_t)OA_DbOutputLevel::OUTPUT_LEVEL_DISABLED) || !healthy()) {
if ((_output_level <= OutputLevel::NONE) || !healthy()) {
return;
}

12
libraries/AC_Avoidance/AP_OADatabase.h
View File

@ -74,18 +74,18 @@ private:
bool is_close_to_item_in_database(const uint16_t index, const OA_DbItem &item) const;
// enum for use with _OUTPUT parameter
enum class OA_DbOutputLevel {
OUTPUT_LEVEL_DISABLED = 0,
OUTPUT_LEVEL_SEND_HIGH = 1,
OUTPUT_LEVEL_SEND_HIGH_AND_NORMAL = 2,
OUTPUT_LEVEL_SEND_ALL = 3
enum class OutputLevel {
NONE = 0,
HIGH = 1,
HIGH_AND_NORMAL = 2,
ALL = 3
};
// parameters
AP_Int16 _queue_size_param; // queue size
AP_Int16 _database_size_param; // db size
AP_Int8 _database_expiry_seconds; // objects expire after this timeout
AP_Int8 _output_level; // controls which items should be sent to GCS
AP_Enum<OutputLevel> _output_level; // controls which items should be sent to GCS
AP_Float _beam_width; // beam width used when converting lidar readings to object radius
AP_Float _radius_min; // objects minimum radius (in meters)
AP_Float _dist_max; // objects maximum distance (in meters)