From 979f7a0cae4ee125533ecd54576978e5fc592ca2 Mon Sep 17 00:00:00 2001 From: Peter Barker Date: Tue, 29 Nov 2022 17:29:35 +1100 Subject: [PATCH] AP_Landing: assign values to each of the slope approach stages these are logged so should be defined --- libraries/AP_Landing/AP_Landing.h | 10 +++--- libraries/AP_Landing/AP_Landing_Slope.cpp | 40 +++++++++++------------ 2 files changed, 25 insertions(+), 25 deletions(-) diff --git a/libraries/AP_Landing/AP_Landing.h b/libraries/AP_Landing/AP_Landing.h index 0477bf4dbc..4cf6965251 100644 --- a/libraries/AP_Landing/AP_Landing.h +++ b/libraries/AP_Landing/AP_Landing.h @@ -169,11 +169,11 @@ private: // Land Type STANDARD GLIDE SLOPE - enum { - SLOPE_STAGE_NORMAL, - SLOPE_STAGE_APPROACH, - SLOPE_STAGE_PREFLARE, - SLOPE_STAGE_FINAL + enum class SlopeStage { + NORMAL = 0, + APPROACH = 1, + PREFLARE = 2, + FINAL = 3, } type_slope_stage; struct { diff --git a/libraries/AP_Landing/AP_Landing_Slope.cpp b/libraries/AP_Landing/AP_Landing_Slope.cpp index 0ca5f1aaa9..0c6b4beab1 100644 --- a/libraries/AP_Landing/AP_Landing_Slope.cpp +++ b/libraries/AP_Landing/AP_Landing_Slope.cpp @@ -33,7 +33,7 @@ void AP_Landing::type_slope_do_land(const AP_Mission::Mission_Command& cmd, cons // once landed, post some landing statistics to the GCS type_slope_flags.post_stats = false; - type_slope_stage = SLOPE_STAGE_NORMAL; + type_slope_stage = SlopeStage::NORMAL; gcs().send_text(MAV_SEVERITY_INFO, "Landing approach start at %.1fm", (double)relative_altitude); } @@ -57,7 +57,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n // adjust final landing parameters // determine stage - if (type_slope_stage == SLOPE_STAGE_NORMAL) { + if (type_slope_stage == SlopeStage::NORMAL) { const bool heading_lined_up = abs(nav_controller->bearing_error_cd()) < 1000 && !nav_controller->data_is_stale(); const bool on_flight_line = fabsf(nav_controller->crosstrack_error()) < 5.0f && !nav_controller->data_is_stale(); const bool below_prev_WP = current_loc.alt < prev_WP_loc.alt; @@ -65,7 +65,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n (wp_proportion >= 0 && heading_lined_up && on_flight_line) || (wp_proportion > 0.15f && heading_lined_up && below_prev_WP) || (wp_proportion > 0.5f)) { - type_slope_stage = SLOPE_STAGE_APPROACH; + type_slope_stage = SlopeStage::APPROACH; } } @@ -99,7 +99,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n (!rangefinder_state_in_range && wp_proportion >= 1) || probably_crashed) { - if (type_slope_stage != SLOPE_STAGE_FINAL) { + if (type_slope_stage != SlopeStage::FINAL) { type_slope_flags.post_stats = true; if (is_flying && (AP_HAL::millis()-last_flying_ms) > 3000) { gcs().send_text(MAV_SEVERITY_CRITICAL, "Flare crash detected: speed=%.1f", (double)gps.ground_speed()); @@ -110,7 +110,7 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n (double)current_loc.get_distance(next_WP_loc)); } - type_slope_stage = SLOPE_STAGE_FINAL; + type_slope_stage = SlopeStage::FINAL; // Check if the landing gear was deployed before landing // If not - go around @@ -130,11 +130,11 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n aparm.min_gndspeed_cm.load(); aparm.throttle_cruise.load(); } - } else if (type_slope_stage == SLOPE_STAGE_APPROACH && pre_flare_airspeed > 0) { + } else if (type_slope_stage == SlopeStage::APPROACH && pre_flare_airspeed > 0) { bool reached_pre_flare_alt = pre_flare_alt > 0 && (height <= pre_flare_alt); bool reached_pre_flare_sec = pre_flare_sec > 0 && (height <= sink_rate * pre_flare_sec); if (reached_pre_flare_alt || reached_pre_flare_sec) { - type_slope_stage = SLOPE_STAGE_PREFLARE; + type_slope_stage = SlopeStage::PREFLARE; } } @@ -156,12 +156,12 @@ bool AP_Landing::type_slope_verify_land(const Location &prev_WP_loc, Location &n } // check if we should auto-disarm after a confirmed landing - if (type_slope_stage == SLOPE_STAGE_FINAL) { + if (type_slope_stage == SlopeStage::FINAL) { disarm_if_autoland_complete_fn(); } if (mission.continue_after_land() && - type_slope_stage == SLOPE_STAGE_FINAL && + type_slope_stage == SlopeStage::FINAL && gps.status() >= AP_GPS::GPS_OK_FIX_3D && gps.ground_speed() < 1) { /* @@ -342,14 +342,14 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void) int32_t target_airspeed_cm = aparm.airspeed_cruise_cm; switch (type_slope_stage) { - case SLOPE_STAGE_APPROACH: + case SlopeStage::APPROACH: if (land_airspeed >= 0) { target_airspeed_cm = land_airspeed * 100; } break; - case SLOPE_STAGE_PREFLARE: - case SLOPE_STAGE_FINAL: + case SlopeStage::PREFLARE: + case SlopeStage::FINAL: if (pre_flare_airspeed > 0) { // if we just preflared then continue using the pre-flare airspeed during final flare target_airspeed_cm = pre_flare_airspeed * 100; @@ -371,7 +371,7 @@ int32_t AP_Landing::type_slope_get_target_airspeed_cm(void) int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, const int32_t level_roll_limit_cd) { - if (type_slope_stage == SLOPE_STAGE_FINAL) { + if (type_slope_stage == SlopeStage::FINAL) { return constrain_int32(desired_roll_cd, level_roll_limit_cd * -1, level_roll_limit_cd); } else { return desired_roll_cd; @@ -380,24 +380,24 @@ int32_t AP_Landing::type_slope_constrain_roll(const int32_t desired_roll_cd, con bool AP_Landing::type_slope_is_flaring(void) const { - return (type_slope_stage == SLOPE_STAGE_FINAL); + return (type_slope_stage == SlopeStage::FINAL); } bool AP_Landing::type_slope_is_on_approach(void) const { - return (type_slope_stage == SLOPE_STAGE_APPROACH || - type_slope_stage == SLOPE_STAGE_PREFLARE); + return (type_slope_stage == SlopeStage::APPROACH || + type_slope_stage == SlopeStage::PREFLARE); } bool AP_Landing::type_slope_is_expecting_impact(void) const { - return (type_slope_stage == SLOPE_STAGE_PREFLARE || - type_slope_stage == SLOPE_STAGE_FINAL); + return (type_slope_stage == SlopeStage::PREFLARE || + type_slope_stage == SlopeStage::FINAL); } bool AP_Landing::type_slope_is_complete(void) const { - return (type_slope_stage == SLOPE_STAGE_FINAL); + return (type_slope_stage == SlopeStage::FINAL); } void AP_Landing::type_slope_log(void) const @@ -425,5 +425,5 @@ void AP_Landing::type_slope_log(void) const bool AP_Landing::type_slope_is_throttle_suppressed(void) const { - return type_slope_stage == SLOPE_STAGE_FINAL; + return type_slope_stage == SlopeStage::FINAL; }