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Copter: rename SmartRTLState enum to Submode

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Pierre Kancir 2021-04-13 17:09:24 +02:00 committed by Andrew Tridgell
parent f43e42f0b6
commit 84d385654a
2 changed files with 20 additions and 20 deletions
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4
ArduCopter/mode.h
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@ -1237,7 +1237,7 @@ public:
bool is_landing() const override; bool is_landing() const override;
// Safe RTL states // Safe RTL states
enum class SmartRTLState : uint8_t { enum class SubMode : uint8_t {
WAIT_FOR_PATH_CLEANUP, WAIT_FOR_PATH_CLEANUP,
PATH_FOLLOW, PATH_FOLLOW,
PRELAND_POSITION, PRELAND_POSITION,
@ -1262,7 +1262,7 @@ private:
void path_follow_run(); void path_follow_run();
void pre_land_position_run(); void pre_land_position_run();
void land(); void land();
SmartRTLState smart_rtl_state = SmartRTLState::PATH_FOLLOW; SubMode smart_rtl_state = SubMode::PATH_FOLLOW;
// keep track of how long we have failed to get another return // keep track of how long we have failed to get another return
// point while following our path home. If we take too long we // point while following our path home. If we take too long we

36
ArduCopter/mode_smart_rtl.cpp
View File

@ -25,7 +25,7 @@ bool ModeSmartRTL::init(bool ignore_checks)
auto_yaw.set_mode_to_default(true); auto_yaw.set_mode_to_default(true);
// wait for cleanup of return path // wait for cleanup of return path
smart_rtl_state = SmartRTLState::WAIT_FOR_PATH_CLEANUP; smart_rtl_state = SubMode::WAIT_FOR_PATH_CLEANUP;
return true; return true;
} }
@ -41,19 +41,19 @@ void ModeSmartRTL::exit()
void ModeSmartRTL::run() void ModeSmartRTL::run()
{ {
switch (smart_rtl_state) { switch (smart_rtl_state) {
case SmartRTLState::WAIT_FOR_PATH_CLEANUP: case SubMode::WAIT_FOR_PATH_CLEANUP:
wait_cleanup_run(); wait_cleanup_run();
break; break;
case SmartRTLState::PATH_FOLLOW: case SubMode::PATH_FOLLOW:
path_follow_run(); path_follow_run();
break; break;
case SmartRTLState::PRELAND_POSITION: case SubMode::PRELAND_POSITION:
pre_land_position_run(); pre_land_position_run();
break; break;
case SmartRTLState::DESCEND: case SubMode::DESCEND:
descent_run(); // Re-using the descend method from normal rtl mode. descent_run(); // Re-using the descend method from normal rtl mode.
break; break;
case SmartRTLState::LAND: case SubMode::LAND:
land_run(true); // Re-using the land method from normal rtl mode. land_run(true); // Re-using the land method from normal rtl mode.
break; break;
} }
@ -61,7 +61,7 @@ void ModeSmartRTL::run()
bool ModeSmartRTL::is_landing() const bool ModeSmartRTL::is_landing() const
{ {
return smart_rtl_state == SmartRTLState::LAND; return smart_rtl_state == SubMode::LAND;
} }
void ModeSmartRTL::wait_cleanup_run() void ModeSmartRTL::wait_cleanup_run()
@ -75,7 +75,7 @@ void ModeSmartRTL::wait_cleanup_run()
// check if return path is computed and if yes, begin journey home // check if return path is computed and if yes, begin journey home
if (g2.smart_rtl.request_thorough_cleanup()) { if (g2.smart_rtl.request_thorough_cleanup()) {
path_follow_last_pop_fail_ms = 0; path_follow_last_pop_fail_ms = 0;
smart_rtl_state = SmartRTLState::PATH_FOLLOW; smart_rtl_state = SubMode::PATH_FOLLOW;
} }
} }
@ -100,7 +100,7 @@ void ModeSmartRTL::path_follow_run()
if (g2.smart_rtl.get_num_points() == 0) { if (g2.smart_rtl.get_num_points() == 0) {
// this is the very last point, add 2m to the target alt and move to pre-land state // this is the very last point, add 2m to the target alt and move to pre-land state
dest_NED.z -= 2.0f; dest_NED.z -= 2.0f;
smart_rtl_state = SmartRTLState::PRELAND_POSITION; smart_rtl_state = SubMode::PRELAND_POSITION;
wp_nav->set_wp_destination_NED(dest_NED); wp_nav->set_wp_destination_NED(dest_NED);
} else { } else {
// peek at the next point. this can fail if the IO task currently has the path semaphore // peek at the next point. this can fail if the IO task currently has the path semaphore
@ -123,7 +123,7 @@ void ModeSmartRTL::path_follow_run()
// We should never get here; should always have at least // We should never get here; should always have at least
// two points and the "zero points left" is handled above. // two points and the "zero points left" is handled above.
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
smart_rtl_state = SmartRTLState::PRELAND_POSITION; smart_rtl_state = SubMode::PRELAND_POSITION;
} else if (path_follow_last_pop_fail_ms == 0) { } else if (path_follow_last_pop_fail_ms == 0) {
// first time we've failed to pop off (ever, or after a success) // first time we've failed to pop off (ever, or after a success)
path_follow_last_pop_fail_ms = AP_HAL::millis(); path_follow_last_pop_fail_ms = AP_HAL::millis();
@ -131,7 +131,7 @@ void ModeSmartRTL::path_follow_run()
// we failed to pop a point off for 10 seconds. This is // we failed to pop a point off for 10 seconds. This is
// almost certainly a bug. // almost certainly a bug.
INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control); INTERNAL_ERROR(AP_InternalError::error_t::flow_of_control);
smart_rtl_state = SmartRTLState::PRELAND_POSITION; smart_rtl_state = SubMode::PRELAND_POSITION;
} }
} }
@ -157,11 +157,11 @@ void ModeSmartRTL::pre_land_position_run()
// choose descend and hold, or land based on user parameter rtl_alt_final // choose descend and hold, or land based on user parameter rtl_alt_final
if (g.rtl_alt_final <= 0 || copter.failsafe.radio) { if (g.rtl_alt_final <= 0 || copter.failsafe.radio) {
land_start(); land_start();
smart_rtl_state = SmartRTLState::LAND; smart_rtl_state = SubMode::LAND;
} else { } else {
set_descent_target_alt(copter.g.rtl_alt_final); set_descent_target_alt(copter.g.rtl_alt_final);
descent_start(); descent_start();
smart_rtl_state = SmartRTLState::DESCEND; smart_rtl_state = SubMode::DESCEND;
} }
} }
@ -184,12 +184,12 @@ bool ModeSmartRTL::get_wp(Location& destination)
{ {
// provide target in states which use wp_nav // provide target in states which use wp_nav
switch (smart_rtl_state) { switch (smart_rtl_state) {
case SmartRTLState::WAIT_FOR_PATH_CLEANUP: case SubMode::WAIT_FOR_PATH_CLEANUP:
case SmartRTLState::PATH_FOLLOW: case SubMode::PATH_FOLLOW:
case SmartRTLState::PRELAND_POSITION: case SubMode::PRELAND_POSITION:
case SmartRTLState::DESCEND: case SubMode::DESCEND:
return wp_nav->get_wp_destination_loc(destination); return wp_nav->get_wp_destination_loc(destination);
case SmartRTLState::LAND: case SubMode::LAND:
return false; return false;
} }