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Rover: use enum-class for mission-done behaviours

This commit is contained in:
Peter Barker 2024-06-17 15:11:56 +10:00 committed by Randy Mackay
parent 136e76e5ea
commit 7003647eda
4 changed files with 28 additions and 17 deletions
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4
Rover/Parameters.h
View File

@ -384,8 +384,10 @@ public:
// windvane
AP_WindVane windvane;
#if AP_MISSION_ENABLED
// mission behave
AP_Int8 mis_done_behave;
AP_Enum<ModeAuto::DoneBehaviour> mis_done_behave;
#endif
// balance both pitch trim
AP_Float bal_pitch_trim;

10
Rover/mode.h
View File

@ -282,11 +282,11 @@ public:
FUNCTOR_BIND_MEMBER(&ModeAuto::verify_command_callback, bool, const AP_Mission::Mission_Command&),
FUNCTOR_BIND_MEMBER(&ModeAuto::exit_mission, void)};
enum Mis_Done_Behave {
MIS_DONE_BEHAVE_HOLD = 0,
MIS_DONE_BEHAVE_LOITER = 1,
MIS_DONE_BEHAVE_ACRO = 2,
MIS_DONE_BEHAVE_MANUAL = 3
enum class DoneBehaviour : uint8_t {
HOLD = 0,
LOITER = 1,
ACRO = 2,
MANUAL = 3,
};
protected:

29
Rover/mode_auto.cpp
View File

@ -626,16 +626,25 @@ void ModeAuto::exit_mission()
// send message
gcs().send_text(MAV_SEVERITY_NOTICE, "Mission Complete");
if (g2.mis_done_behave == MIS_DONE_BEHAVE_LOITER && start_loiter()) {
return;
}
if (g2.mis_done_behave == MIS_DONE_BEHAVE_ACRO && rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
return;
}
if (g2.mis_done_behave == MIS_DONE_BEHAVE_MANUAL && rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
return;
switch ((DoneBehaviour)g2.mis_done_behave) {
case DoneBehaviour::HOLD:
// the default "start_stop" behaviour is used
break;
case DoneBehaviour::LOITER:
if (start_loiter()) {
return;
}
break;
case DoneBehaviour::ACRO:
if (rover.set_mode(rover.mode_acro, ModeReason::MISSION_END)) {
return;
}
break;
case DoneBehaviour::MANUAL:
if (rover.set_mode(rover.mode_manual, ModeReason::MISSION_END)) {
return;
}
break;
}
start_stop();

2
Rover/system.cpp
View File

@ -145,7 +145,7 @@ void Rover::init_ardupilot()
// boat should loiter after completing a mission to avoid drifting off
if (is_boat()) {
rover.g2.mis_done_behave.set_default(ModeAuto::Mis_Done_Behave::MIS_DONE_BEHAVE_LOITER);
rover.g2.mis_done_behave.set_default(uint8_t(ModeAuto::DoneBehaviour::LOITER));
}
// flag that initialisation has completed