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Plane: move statics into new struct 

removed default case statements
This commit is contained in:
Tom Pittenger 2015-08-20 13:44:32 -07:00 committed by Andrew Tridgell
parent 6d0ad05192
commit 204ff7b158
6 changed files with 32 additions and 27 deletions
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31
ArduPlane/ArduPlane.cpp
View File

@ -903,7 +903,7 @@ void Plane::update_is_flying_5Hz(void)
// we are definitely not flying, or at least for not much longer!
if (throttle_suppressed) {
is_flying_bool = false;
auto_state.is_crashed = false;
crash_state.is_crashed = false;
}
break;
@ -919,7 +919,6 @@ void Plane::update_is_flying_5Hz(void)
break;
case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
default:
break;
} // switch
}
@ -985,13 +984,10 @@ bool Plane::is_flying(void)
*/
void Plane::crash_detection_update(void)
{
static uint32_t crash_timer_ms = 0;
static bool checkHardLanding = false;
if (control_mode != AUTO)
{
// crash detection is only available in AUTO mode
crash_timer_ms = 0;
crash_state.debounce_timer_ms = 0;
return;
}
@ -1039,7 +1035,7 @@ void Plane::crash_detection_update(void)
// but go ahead and notify GCS and perform any additional post-crash actions.
// Declare a crash if we are oriented more that 60deg in pitch or roll
if (been_auto_flying &&
!checkHardLanding && // only check once
!crash_state.checkHardLanding && // only check once
(fabsf(ahrs.roll_sensor) > 6000 || fabsf(ahrs.pitch_sensor) > 6000)) {
crashed = true;
@ -1050,29 +1046,26 @@ void Plane::crash_detection_update(void)
// trigger hard landing event right away, or never again. This inhibits a false hard landing
// event when, for example, a minute after a good landing you pick the plane up and
// this logic is still running and detects the plane is on its side as you carry it.
crash_timer_ms = now_ms + 2500;
crash_state.debounce_timer_ms = now_ms + 2500;
}
checkHardLanding = true;
break;
default:
crash_state.checkHardLanding = true;
break;
} // switch
} else {
checkHardLanding = false;
crash_state.checkHardLanding = false;
}
if (!crashed) {
// reset timer
crash_timer_ms = 0;
auto_state.is_crashed = false;
crash_state.debounce_timer_ms = 0;
crash_state.is_crashed = false;
} else if (crash_timer_ms == 0) {
} else if (crash_state.debounce_timer_ms == 0) {
// start timer
crash_timer_ms = now_ms;
crash_state.debounce_timer_ms = now_ms;
} else if ((now_ms - crash_timer_ms >= 2500) && !auto_state.is_crashed) {
auto_state.is_crashed = true;
} else if ((now_ms - crash_state.debounce_timer_ms >= 2500) && !crash_state.is_crashed) {
crash_state.is_crashed = true;
if (g.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
if (crashed_near_land_waypoint) {

2
ArduPlane/GCS_Mavlink.cpp
View File

@ -13,7 +13,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
if (failsafe.state != FAILSAFE_NONE) {
system_status = MAV_STATE_CRITICAL;
} else if (plane.auto_state.is_crashed) {
} else if (plane.crash_state.is_crashed) {
system_status = MAV_STATE_EMERGENCY;
} else if (is_flying()) {
system_status = MAV_STATE_ACTIVE;

2
ArduPlane/Log.cpp
View File

@ -331,7 +331,7 @@ void Plane::Log_Write_Status()
,is_flying_probability : isFlyingProbability
,armed : hal.util->get_soft_armed()
,safety : hal.util->safety_switch_state()
,is_crashed : auto_state.is_crashed
,is_crashed : crash_state.is_crashed
,is_still : plane.ins.is_still()
};

18
ArduPlane/Plane.h
View File

@ -433,9 +433,6 @@ private:
// movement until altitude is reached
bool idle_mode:1;
// crash detection
bool is_crashed:1;
// used to 'wiggle' servos in idle mode to prevent them freezing
// at high altitudes
uint8_t idle_wiggle_stage;
@ -479,6 +476,18 @@ private:
uint32_t started_flying_in_auto_ms;
} auto_state;
struct {
// on hard landings, only check once after directly a landing so you
// don't trigger a crash when picking up the aircraft
bool checkHardLanding:1;
// crash detection. True when we are crashed
bool is_crashed:1;
// debounce timer
uint32_t debounce_timer_ms;
} crash_state;
// true if we are in an auto-throttle mode, which means
// we need to run the speed/height controller
bool auto_throttle_mode;
@ -492,6 +501,9 @@ private:
// 1 where 1 is 100% sure we're in flight
float isFlyingProbability;
// previous value of is_flying()
bool previous_is_flying;
// Navigation control variables
// The instantaneous desired bank angle. Hundredths of a degree
int32_t nav_roll_cd;

4
ArduPlane/commands_logic.cpp
View File

@ -23,7 +23,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
auto_state.takeoff_complete = true;
// if we are still executing mission commands then we must be traveling around still
auto_state.is_crashed = false;
crash_state.is_crashed = false;
// if a go around had been commanded, clear it now.
auto_state.commanded_go_around = false;
@ -42,7 +42,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
switch(cmd.id) {
case MAV_CMD_NAV_TAKEOFF:
auto_state.is_crashed = false;
crash_state.is_crashed = false;
do_takeoff(cmd);
break;

2
ArduPlane/system.cpp
View File

@ -348,7 +348,7 @@ void Plane::set_mode(enum FlightMode mode)
steer_state.locked_course_err = 0;
// reset crash detection
auto_state.is_crashed = false;
crash_state.is_crashed = false;
// set mode
previous_mode = control_mode;