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AC_PrecLand: use enum-class for Type, make enum private

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Peter Barker 2021-04-14 13:16:18 +10:00 committed by Andrew Tridgell
parent 252543978e
commit 6a3188a8ec
2 changed files with 16 additions and 16 deletions
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12
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -150,24 +150,24 @@ void AC_PrecLand::init(uint16_t update_rate_hz)
} }
// instantiate backend based on type parameter // instantiate backend based on type parameter
switch ((enum PrecLandType)(_type.get())) { switch ((Type)(_type.get())) {
// no type defined // no type defined
case PRECLAND_TYPE_NONE: case Type::NONE:
default: default:
return; return;
// companion computer // companion computer
case PRECLAND_TYPE_COMPANION: case Type::COMPANION:
_backend = new AC_PrecLand_Companion(*this, _backend_state); _backend = new AC_PrecLand_Companion(*this, _backend_state);
break; break;
// IR Lock // IR Lock
case PRECLAND_TYPE_IRLOCK: case Type::IRLOCK:
_backend = new AC_PrecLand_IRLock(*this, _backend_state); _backend = new AC_PrecLand_IRLock(*this, _backend_state);
break; break;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL #if CONFIG_HAL_BOARD == HAL_BOARD_SITL
case PRECLAND_TYPE_SITL_GAZEBO: case Type::SITL_GAZEBO:
_backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state); _backend = new AC_PrecLand_SITL_Gazebo(*this, _backend_state);
break; break;
case PRECLAND_TYPE_SITL: case Type::SITL:
_backend = new AC_PrecLand_SITL(*this, _backend_state); _backend = new AC_PrecLand_SITL(*this, _backend_state);
break; break;
#endif #endif

20
libraries/AC_PrecLand/AC_PrecLand.h
View File

@ -29,15 +29,6 @@ public:
AC_PrecLand(const AC_PrecLand &other) = delete; AC_PrecLand(const AC_PrecLand &other) = delete;
AC_PrecLand &operator=(const AC_PrecLand&) = delete; AC_PrecLand &operator=(const AC_PrecLand&) = delete;
// types of precision landing (used for PRECLAND_TYPE parameter)
enum PrecLandType {
PRECLAND_TYPE_NONE = 0,
PRECLAND_TYPE_COMPANION,
PRECLAND_TYPE_IRLOCK,
PRECLAND_TYPE_SITL_GAZEBO,
PRECLAND_TYPE_SITL,
};
// perform any required initialisation of landing controllers // perform any required initialisation of landing controllers
// update_rate_hz should be the rate at which the update method will be called in hz // update_rate_hz should be the rate at which the update method will be called in hz
void init(uint16_t update_rate_hz); void init(uint16_t update_rate_hz);
@ -87,6 +78,15 @@ private:
KALMAN_FILTER = 1, KALMAN_FILTER = 1,
}; };
// types of precision landing (used for PRECLAND_TYPE parameter)
enum class Type : uint8_t {
NONE = 0,
COMPANION = 1,
IRLOCK = 2,
SITL_GAZEBO = 3,
SITL = 4,
};
// run target position estimator // run target position estimator
void run_estimator(float rangefinder_alt_m, bool rangefinder_alt_valid); void run_estimator(float rangefinder_alt_m, bool rangefinder_alt_valid);
@ -102,7 +102,7 @@ private:
// parameters // parameters
AP_Int8 _enabled; // enabled/disabled AP_Int8 _enabled; // enabled/disabled
AP_Int8 _type; // precision landing sensor type AP_Enum<Type> _type; // precision landing sensor type
AP_Int8 _bus; // which sensor bus AP_Int8 _bus; // which sensor bus
AP_Enum<EstimatorType> _estimator_type; // precision landing estimator type AP_Enum<EstimatorType> _estimator_type; // precision landing estimator type
AP_Float _lag; // sensor lag in seconds AP_Float _lag; // sensor lag in seconds