Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AC_AutoTune: restrict scoping of LEVEL_ISSUE enum 

This gives us tighter type-checking and scoping
This commit is contained in:
Peter Barker 2019-02-28 21:38:39 +11:00 committed by Peter Barker
parent a451380d61
commit 87d05d843e
2 changed files with 24 additions and 24 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/AC_AutoTune/AC_AutoTune.cpp
View File

@ -226,19 +226,19 @@ bool AC_AutoTune::start(void)
const char *AC_AutoTune::level_issue_string() const
{
switch (level_problem.issue) {
case LEVEL_ISSUE_NONE:
case LevelIssue::NONE:
return "None";
case LEVEL_ISSUE_ANGLE_ROLL:
case LevelIssue::ANGLE_ROLL:
return "Angle(R)";
case LEVEL_ISSUE_ANGLE_PITCH:
case LevelIssue::ANGLE_PITCH:
return "Angle(P)";
case LEVEL_ISSUE_ANGLE_YAW:
case LevelIssue::ANGLE_YAW:
return "Angle(Y)";
case LEVEL_ISSUE_RATE_ROLL:
case LevelIssue::RATE_ROLL:
return "Rate(R)";
case LEVEL_ISSUE_RATE_PITCH:
case LevelIssue::RATE_PITCH:
return "Rate(P)";
case LEVEL_ISSUE_RATE_YAW:
case LevelIssue::RATE_YAW:
return "Rate(Y)";
}
return "Bug";
@ -414,7 +414,7 @@ void AC_AutoTune::run()
}
bool AC_AutoTune::check_level(const LEVEL_ISSUE issue, const float current, const float maximum)
bool AC_AutoTune::check_level(const LevelIssue issue, const float current, const float maximum)
{
if (current > maximum) {
level_problem.current = current;
@ -435,33 +435,33 @@ bool AC_AutoTune::currently_level()
threshold_mul *= 2;
}
if (!check_level(LEVEL_ISSUE_ANGLE_ROLL,
if (!check_level(LevelIssue::ANGLE_ROLL,
abs(ahrs_view->roll_sensor - roll_cd),
threshold_mul*AUTOTUNE_LEVEL_ANGLE_CD)) {
return false;
}
if (!check_level(LEVEL_ISSUE_ANGLE_PITCH,
if (!check_level(LevelIssue::ANGLE_PITCH,
abs(ahrs_view->pitch_sensor - pitch_cd),
threshold_mul*AUTOTUNE_LEVEL_ANGLE_CD)) {
return false;
}
if (!check_level(LEVEL_ISSUE_ANGLE_YAW,
if (!check_level(LevelIssue::ANGLE_YAW,
fabsf(wrap_180_cd(ahrs_view->yaw_sensor - desired_yaw_cd)),
threshold_mul*AUTOTUNE_LEVEL_ANGLE_CD)) {
return false;
}
if (!check_level(LEVEL_ISSUE_RATE_ROLL,
if (!check_level(LevelIssue::RATE_ROLL,
(ToDeg(ahrs_view->get_gyro().x) * 100.0f),
threshold_mul*AUTOTUNE_LEVEL_RATE_RP_CD)) {
return false;
}
if (!check_level(LEVEL_ISSUE_RATE_PITCH,
if (!check_level(LevelIssue::RATE_PITCH,
(ToDeg(ahrs_view->get_gyro().y) * 100.0f),
threshold_mul*AUTOTUNE_LEVEL_RATE_RP_CD)) {
return false;
}
if (!check_level(LEVEL_ISSUE_RATE_YAW,
if (!check_level(LevelIssue::RATE_YAW,
(ToDeg(ahrs_view->get_gyro().z) * 100.0f),
threshold_mul*AUTOTUNE_LEVEL_RATE_Y_CD)) {
return false;

20
libraries/AC_AutoTune/AC_AutoTune.h
View File

@ -114,16 +114,16 @@ private:
void announce_state_to_gcs();
void do_gcs_announcements();
enum LEVEL_ISSUE {
LEVEL_ISSUE_NONE,
LEVEL_ISSUE_ANGLE_ROLL,
LEVEL_ISSUE_ANGLE_PITCH,
LEVEL_ISSUE_ANGLE_YAW,
LEVEL_ISSUE_RATE_ROLL,
LEVEL_ISSUE_RATE_PITCH,
LEVEL_ISSUE_RATE_YAW,
enum struct LevelIssue {
NONE,
ANGLE_ROLL,
ANGLE_PITCH,
ANGLE_YAW,
RATE_ROLL,
RATE_PITCH,
RATE_YAW,
};
bool check_level(const enum LEVEL_ISSUE issue, const float current, const float maximum);
bool check_level(const enum LevelIssue issue, const float current, const float maximum);
bool currently_level();
// autotune modes (high level states)
@ -216,7 +216,7 @@ private:
float roll_cd, pitch_cd;
struct {
LEVEL_ISSUE issue{LEVEL_ISSUE_NONE};
LevelIssue issue{LevelIssue::NONE};
float maximum;
float current;
} level_problem;