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Sub: use enum-class for RangeFinder Status

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Peter Barker 2019-11-01 16:12:53 +11:00 committed by Peter Barker
parent 6cd4dfba2c
commit b3f1fdf182
2 changed files with 8 additions and 8 deletions
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14
ArduSub/control_auto.cpp
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@ -626,12 +626,12 @@ bool Sub::auto_terrain_recover_start()
// Check rangefinder status to see if recovery is possible // Check rangefinder status to see if recovery is possible
switch (rangefinder.status_orient(ROTATION_PITCH_270)) { switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::RangeFinder_OutOfRangeLow: case RangeFinder::Status::OutOfRangeLow:
case RangeFinder::RangeFinder_OutOfRangeHigh: case RangeFinder::Status::OutOfRangeHigh:
// RangeFinder_Good if just one valid sample was obtained recently, but ::rangefinder_state.alt_healthy // RangeFinder::Good if just one valid sample was obtained recently, but ::rangefinder_state.alt_healthy
// requires several consecutive valid readings for wpnav to accept rangefinder data // requires several consecutive valid readings for wpnav to accept rangefinder data
case RangeFinder::RangeFinder_Good: case RangeFinder::Status::Good:
auto_mode = Auto_TerrainRecover; auto_mode = Auto_TerrainRecover;
break; break;
@ -683,17 +683,17 @@ void Sub::auto_terrain_recover_run()
switch (rangefinder.status_orient(ROTATION_PITCH_270)) { switch (rangefinder.status_orient(ROTATION_PITCH_270)) {
case RangeFinder::RangeFinder_OutOfRangeLow: case RangeFinder::Status::OutOfRangeLow:
target_climb_rate = wp_nav.get_default_speed_up(); target_climb_rate = wp_nav.get_default_speed_up();
rangefinder_recovery_ms = 0; rangefinder_recovery_ms = 0;
break; break;
case RangeFinder::RangeFinder_OutOfRangeHigh: case RangeFinder::Status::OutOfRangeHigh:
target_climb_rate = wp_nav.get_default_speed_down(); target_climb_rate = wp_nav.get_default_speed_down();
rangefinder_recovery_ms = 0; rangefinder_recovery_ms = 0;
break; break;
case RangeFinder::RangeFinder_Good: // exit on success (recovered rangefinder data) case RangeFinder::Status::Good: // exit on success (recovered rangefinder data)
target_climb_rate = 0; // Attempt to hold current depth target_climb_rate = 0; // Attempt to hold current depth

2
ArduSub/sensors.cpp
View File

@ -30,7 +30,7 @@ void Sub::read_rangefinder()
#if RANGEFINDER_ENABLED == ENABLED #if RANGEFINDER_ENABLED == ENABLED
rangefinder.update(); rangefinder.update();
rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::RangeFinder_Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX)); rangefinder_state.alt_healthy = ((rangefinder.status_orient(ROTATION_PITCH_270) == RangeFinder::Status::Good) && (rangefinder.range_valid_count_orient(ROTATION_PITCH_270) >= RANGEFINDER_HEALTH_MAX));
int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270); int16_t temp_alt = rangefinder.distance_cm_orient(ROTATION_PITCH_270);