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Copter: land_state uses enum 

This resolves a Covarity warning related to initialisation (that was not really a problem) but it is better form anyway
This commit is contained in:
Randy Mackay 2016-08-08 13:27:39 +09:00
parent 3c87f67212
commit 728e8f8f56
3 changed files with 11 additions and 10 deletions
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2
ArduCopter/Copter.h
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@ -349,7 +349,7 @@ private:
int32_t home_distance;
// distance between plane and next waypoint in cm.
uint32_t wp_distance;
uint8_t land_state; // records state of land (flying to location, descending)
LandStateType land_state = LandStateType_FlyToLocation; // records state of land (flying to location, descending)
// Auto
AutoMode auto_mode; // controls which auto controller is run

12
ArduCopter/commands_logic.cpp
View File

@ -323,7 +323,7 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
// if location provided we fly to that location at current altitude
if (cmd.content.location.lat != 0 || cmd.content.location.lng != 0) {
// set state to fly to location
land_state = LAND_STATE_FLY_TO_LOCATION;
land_state = LandStateType_FlyToLocation;
// convert to location class
Location_Class target_loc(cmd.content.location);
@ -342,7 +342,7 @@ void Copter::do_land(const AP_Mission::Mission_Command& cmd)
auto_wp_start(target_loc);
}else{
// set landing state
land_state = LAND_STATE_DESCENDING;
land_state = LandStateType_Descending;
// initialise landing controller
auto_land_start();
@ -600,8 +600,8 @@ bool Copter::verify_land()
{
bool retval = false;
switch( land_state ) {
case LAND_STATE_FLY_TO_LOCATION:
switch (land_state) {
case LandStateType_FlyToLocation:
// check if we've reached the location
if (wp_nav.reached_wp_destination()) {
// get destination so we can use it for loiter target
@ -611,11 +611,11 @@ bool Copter::verify_land()
auto_land_start(dest);
// advance to next state
land_state = LAND_STATE_DESCENDING;
land_state = LandStateType_Descending;
}
break;
case LAND_STATE_DESCENDING:
case LandStateType_Descending:
// rely on THROTTLE_LAND mode to correctly update landing status
retval = ap.land_complete;
break;

7
ArduCopter/defines.h
View File

@ -271,9 +271,10 @@ enum ThrowModeType {
ThrowType_Drop = 1
};
// LAND state
#define LAND_STATE_FLY_TO_LOCATION 0
#define LAND_STATE_DESCENDING 1
enum LandStateType {
LandStateType_FlyToLocation = 0,
LandStateType_Descending = 1
};
// Logging parameters
#define TYPE_AIRSTART_MSG 0x00