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Plane: move nav_delay state to be private in ModeAuto

This commit is contained in:
Peter Barker 2022-12-29 16:55:13 +11:00 committed by Andrew Tridgell
parent db72fd16d4
commit a1b021e833
3 changed files with 20 additions and 16 deletions
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11
ArduPlane/Plane.h
View File

@ -940,9 +940,6 @@ private:
bool verify_command_callback(const AP_Mission::Mission_Command& cmd);
float get_wp_radius() const;
void do_nav_delay(const AP_Mission::Mission_Command& cmd);
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
bool is_land_command(uint16_t cmd) const;
bool do_change_speed(uint8_t speedtype, float speed_target_ms, float rhtottle_pct);
@ -950,13 +947,7 @@ private:
return true if in a specific AUTO mission command
*/
bool in_auto_mission_id(uint16_t command) const;
// Delay the next navigation command
struct {
uint32_t time_max_ms;
uint32_t time_start_ms;
} nav_delay;
#if AP_SCRIPTING_ENABLED
// nav scripting support
void do_nav_script_time(const AP_Mission::Mission_Command& cmd);

10
ArduPlane/commands_logic.cpp
View File

@ -206,7 +206,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
#endif
case MAV_CMD_NAV_DELAY:
do_nav_delay(cmd);
mode_auto.do_nav_delay(cmd);
break;
default:
@ -311,7 +311,7 @@ bool Plane::verify_command(const AP_Mission::Mission_Command& cmd) // Ret
#endif
case MAV_CMD_NAV_DELAY:
return verify_nav_delay(cmd);
return mode_auto.verify_nav_delay(cmd);
// do commands (always return true)
case MAV_CMD_DO_CHANGE_SPEED:
@ -533,7 +533,7 @@ void Plane::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
}
// do_nav_delay - Delay the next navigation command
void Plane::do_nav_delay(const AP_Mission::Mission_Command& cmd)
void ModeAuto::do_nav_delay(const AP_Mission::Mission_Command& cmd)
{
nav_delay.time_start_ms = millis();
@ -880,9 +880,9 @@ bool Plane::verify_altitude_wait(const AP_Mission::Mission_Command &cmd)
}
// verify_nav_delay - check if we have waited long enough
bool Plane::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
bool ModeAuto::verify_nav_delay(const AP_Mission::Mission_Command& cmd)
{
if (arming.is_armed_and_safety_off()) {
if (AP::arming().is_armed_and_safety_off()) {
// don't delay while armed, we need a nav controller running
return true;
}

15
ArduPlane/mode.h
View File

@ -8,6 +8,7 @@
#include <AP_Vehicle/ModeReason.h>
#include "quadplane.h"
#include <AP_AHRS/AP_AHRS.h>
#include <AP_Mission/AP_Mission.h>
class AC_PosControl;
class AC_AttitudeControl_Multi;
@ -220,12 +221,24 @@ public:
bool mode_allows_autotuning() const override { return true; }
bool is_landing() const override;
void do_nav_delay(const AP_Mission::Mission_Command& cmd);
bool verify_nav_delay(const AP_Mission::Mission_Command& cmd);
protected:
bool _enter() override;
void _exit() override;
bool _pre_arm_checks(size_t buflen, char *buffer) const override;
private:
// Delay the next navigation command
struct {
uint32_t time_max_ms;
uint32_t time_start_ms;
} nav_delay;
};