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ArduPlane: use an enumeration for the AP_Avoidance recovery action

This commit is contained in:
Peter Barker 2020-08-16 12:12:53 +10:00 committed by Peter Barker
parent 38122eb35e
commit 306eaf4d03
2 changed files with 8 additions and 8 deletions
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14
ArduPlane/avoidance_adsb.cpp
View File

@ -97,34 +97,34 @@ MAV_COLLISION_ACTION AP_Avoidance_Plane::handle_avoidance(const AP_Avoidance::Ob
return actual_action;
}
void AP_Avoidance_Plane::handle_recovery(uint8_t recovery_action)
void AP_Avoidance_Plane::handle_recovery(RecoveryAction recovery_action)
{
// check we are coming out of failsafe
if (plane.failsafe.adsb) {
plane.failsafe.adsb = false;
gcs().send_text(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %d", recovery_action);
gcs().send_text(MAV_SEVERITY_INFO, "Avoid: Resuming with action: %u", (unsigned)recovery_action);
// restore flight mode if requested and user has not changed mode since
if (plane.control_mode_reason == ModeReason::AVOIDANCE) {
switch (recovery_action) {
case AP_AVOIDANCE_RECOVERY_REMAIN_IN_AVOID_ADSB:
case RecoveryAction::REMAIN_IN_AVOID_ADSB:
// do nothing, we'll stay in the AVOID_ADSB mode which is guided which will loiter
break;
case AP_AVOIDANCE_RECOVERY_RESUME_PREVIOUS_FLIGHTMODE:
case RecoveryAction::RESUME_PREVIOUS_FLIGHTMODE:
plane.set_mode_by_number(prev_control_mode_number, ModeReason::AVOIDANCE_RECOVERY);
break;
case AP_AVOIDANCE_RECOVERY_RTL:
case RecoveryAction::RTL:
plane.set_mode(plane.mode_rtl, ModeReason::AVOIDANCE_RECOVERY);
break;
case AP_AVOIDANCE_RECOVERY_RESUME_IF_AUTO_ELSE_LOITER:
case RecoveryAction::RESUME_IF_AUTO_ELSE_LOITER:
if (prev_control_mode_number == Mode::Number::AUTO) {
plane.set_mode(plane.mode_auto, ModeReason::AVOIDANCE_RECOVERY);
}
// else do nothing, same as AP_AVOIDANCE_RECOVERY_LOITER
// else do nothing, same as RecoveryAction::LOITER
break;
default:

2
ArduPlane/avoidance_adsb.h
View File

@ -20,7 +20,7 @@ protected:
MAV_COLLISION_ACTION handle_avoidance(const AP_Avoidance::Obstacle *obstacle, MAV_COLLISION_ACTION requested_action) override;
// override recovery handler
void handle_recovery(uint8_t recovery_action) override;
void handle_recovery(RecoveryAction recovery_action) override;
// check flight mode is avoid_adsb
bool check_flightmode(bool allow_mode_change);