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Copter: remove superfluous RETURN_TARGET_ALTTYPE_ from enum class names 

Just repeats what's in the required prefix for the enum class
This commit is contained in:
Peter Barker 2020-09-03 09:39:23 +10:00 committed by Andrew Tridgell
parent 74686f8dc4
commit 397b95154c
2 changed files with 13 additions and 13 deletions
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6
ArduCopter/mode.h
View File

@ -1104,9 +1104,9 @@ private:
// return target alt type
enum class ReturnTargetAltType {
RETURN_TARGET_ALTTYPE_RELATIVE = 0,
RETURN_TARGET_ALTTYPE_RANGEFINDER = 1,
RETURN_TARGET_ALTTYPE_TERRAINDATABASE = 2
RELATIVE = 0,
RANGEFINDER = 1,
TERRAINDATABASE = 2
};
// Loiter timer - Records how long we have been in loiter

20
ArduCopter/mode_rtl.cpp
View File

@ -434,39 +434,39 @@ void ModeRTL::compute_return_target()
int32_t curr_alt = copter.current_loc.alt;
// determine altitude type of return journey (alt-above-home, alt-above-terrain using range finder or alt-above-terrain using terrain database)
ReturnTargetAltType alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE;
ReturnTargetAltType alt_type = ReturnTargetAltType::RELATIVE;
if (terrain_following_allowed && (get_alt_type() == RTLAltType::RTL_ALTTYPE_TERRAIN)) {
// convert RTL_ALT_TYPE and WPNAV_RFNG_USE parameters to ReturnTargetAltType
switch (wp_nav->get_terrain_source()) {
case AC_WPNav::TerrainSource::TERRAIN_UNAVAILABLE:
alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE;
alt_type = ReturnTargetAltType::RELATIVE;
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: no terrain data, using alt-above-home");
break;
case AC_WPNav::TerrainSource::TERRAIN_FROM_RANGEFINDER:
alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RANGEFINDER;
alt_type = ReturnTargetAltType::RANGEFINDER;
break;
case AC_WPNav::TerrainSource::TERRAIN_FROM_TERRAINDATABASE:
alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_TERRAINDATABASE;
alt_type = ReturnTargetAltType::TERRAINDATABASE;
break;
}
}
// set curr_alt and return_target.alt from range finder
if (alt_type == ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RANGEFINDER) {
if (alt_type == ReturnTargetAltType::RANGEFINDER) {
if (copter.get_rangefinder_height_interpolated_cm(curr_alt)) {
// set return_target.alt
rtl_path.return_target.set_alt_cm(MAX(curr_alt + MAX(0, g.rtl_climb_min), MAX(g.rtl_altitude, RTL_ALT_MIN)), Location::AltFrame::ABOVE_TERRAIN);
} else {
// fallback to relative alt and warn user
alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE;
alt_type = ReturnTargetAltType::RELATIVE;
gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: rangefinder unhealthy, using alt-above-home");
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RTL_MISSING_RNGFND);
}
}
// set curr_alt and return_target.alt from terrain database
if (alt_type == ReturnTargetAltType::RETURN_TARGET_ALTTYPE_TERRAINDATABASE) {
if (alt_type == ReturnTargetAltType::TERRAINDATABASE) {
// set curr_alt to current altitude above terrain
// convert return_target.alt from an abs (above MSL) to altitude above terrain
// Note: the return_target may be a rally point with the alt set above the terrain alt (like the top of a building)
@ -476,14 +476,14 @@ void ModeRTL::compute_return_target()
curr_alt = curr_terr_alt;
} else {
// fallback to relative alt and warn user
alt_type = ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE;
alt_type = ReturnTargetAltType::RELATIVE;
AP::logger().Write_Error(LogErrorSubsystem::TERRAIN, LogErrorCode::MISSING_TERRAIN_DATA);
gcs().send_text(MAV_SEVERITY_CRITICAL, "RTL: no terrain data, using alt-above-home");
}
}
// for the default case we must convert return-target alt (which is an absolute alt) to alt-above-home
if (alt_type == ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE) {
if (alt_type == ReturnTargetAltType::RELATIVE) {
if (!rtl_path.return_target.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// this should never happen but just in case
rtl_path.return_target.set_alt_cm(0, Location::AltFrame::ABOVE_HOME);
@ -508,7 +508,7 @@ void ModeRTL::compute_return_target()
}
// set returned target alt to new target_alt (don't change altitude type)
rtl_path.return_target.set_alt_cm(target_alt, (alt_type == ReturnTargetAltType::RETURN_TARGET_ALTTYPE_RELATIVE) ? Location::AltFrame::ABOVE_HOME : Location::AltFrame::ABOVE_TERRAIN);
rtl_path.return_target.set_alt_cm(target_alt, (alt_type == ReturnTargetAltType::RELATIVE) ? Location::AltFrame::ABOVE_HOME : Location::AltFrame::ABOVE_TERRAIN);
#if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled