AP_Soaring: Use enum class rather than typedef enum for states and hide details of these.

ArduPlane/GCS_Mavlink.cpp

@@ -265,7 +265,7 @@ int16_t GCS_MAVLINK_Plane::vfr_hud_throttle() const
 float GCS_MAVLINK_Plane::vfr_hud_climbrate() const
 {
 #if SOARING_ENABLED == ENABLED
-    if (plane.g2.soaring_controller.update_active_state()) {
+    if (plane.g2.soaring_controller.is_active()) {
         return plane.g2.soaring_controller.get_vario_reading();
     }
 #endif

ArduPlane/altitude.cpp

@@ -41,7 +41,7 @@ void Plane::adjust_altitude_target()
     } else if (landing.get_target_altitude_location(target_location)) {
        set_target_altitude_location(target_location);
 #if SOARING_ENABLED == ENABLED
-    } else if (g2.soaring_controller.active_state() && g2.soaring_controller.get_throttle_suppressed()) {
+    } else if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
        // Reset target alt to current alt, to prevent large altitude errors when gliding.
        set_target_altitude_location(current_loc);
        reset_offset_altitude();

ArduPlane/mode_loiter.cpp

@@ -10,7 +10,7 @@ bool ModeLoiter::_enter()
     plane.loiter_angle_reset();
 
 #if SOARING_ENABLED == ENABLED
-    if (plane.g2.soaring_controller.active_state()) {
+    if (plane.g2.soaring_controller.is_active()) {
         plane.g2.soaring_controller.init_thermalling();
         plane.g2.soaring_controller.get_target(plane.next_WP_loc); // ahead on flight path
     }

ArduPlane/navigation.cpp

@@ -320,7 +320,7 @@ void Plane::update_fbwb_speed_height(void)
         }
 
 #if SOARING_ENABLED == ENABLED
-        if (g2.soaring_controller.active_state() && g2.soaring_controller.get_throttle_suppressed()) {
+        if (g2.soaring_controller.is_active() && g2.soaring_controller.get_throttle_suppressed()) {
             // we're in soaring mode with throttle suppressed
             set_target_altitude_current();;
         }

ArduPlane/soaring.cpp

@@ -11,7 +11,9 @@ void Plane::update_soaring() {
     
     // Check if soaring is active. Also sets throttle suppressed
     // status on active state changes.
-    if (!g2.soaring_controller.update_active_state()) {
+    plane.g2.soaring_controller.update_active_state();
+
+    if (!g2.soaring_controller.is_active()) {
         return;
     }
     
@@ -83,7 +85,7 @@ void Plane::update_soaring() {
 
         const SoaringController::LoiterStatus loiterStatus = g2.soaring_controller.check_cruise_criteria(prev_wp/100, next_wp/100);
 
-        if (loiterStatus == SoaringController::LoiterStatus::THERMAL_GOOD_TO_KEEP_LOITERING) {
+        if (loiterStatus == SoaringController::LoiterStatus::GOOD_TO_KEEP_LOITERING) {
             // Reset loiter angle, so that the loiter exit heading criteria
             // only starts expanding when we're ready to exit.
             plane.loiter.sum_cd = 0;

libraries/AP_Soaring/AP_Soaring.cpp

@@ -184,7 +184,7 @@ bool SoaringController::check_thermal_criteria()
 {
     ActiveStatus status = active_state();
 
-    return (status == SOARING_STATUS_AUTO_MODE_CHANGE
+    return (status == ActiveStatus::AUTO_MODE_CHANGE
             && ((AP_HAL::micros64() - _cruise_start_time_us) > ((unsigned)min_cruise_s * 1e6))
             && (_vario.filtered_reading - _vario.get_exp_thermalling_sink()) > thermal_vspeed
             && _vario.alt < alt_max
@@ -196,38 +196,38 @@ SoaringController::LoiterStatus SoaringController::check_cruise_criteria(Vector2
 {
     ActiveStatus status = active_state();
 
-    if (status != SOARING_STATUS_AUTO_MODE_CHANGE) {
+    if (status != ActiveStatus::AUTO_MODE_CHANGE) {
-        _cruise_criteria_msg_last = SOARING_DISABLED;
+        _cruise_criteria_msg_last = LoiterStatus::DISABLED;
-        return SOARING_DISABLED;
+        return LoiterStatus::DISABLED;
     }
 
-    LoiterStatus result = THERMAL_GOOD_TO_KEEP_LOITERING;
+    LoiterStatus result = LoiterStatus::GOOD_TO_KEEP_LOITERING;
     const float alt = _vario.alt;
 
     if (alt > alt_max) {
-        result = ALT_TOO_HIGH;
+        result = LoiterStatus::ALT_TOO_HIGH;
         if (result != _cruise_criteria_msg_last) {
             gcs().send_text(MAV_SEVERITY_ALERT, "Reached upper alt = %dm", (int16_t)alt);
         }
     } else if (alt < alt_min) {
-        result = ALT_TOO_LOW;
+        result = LoiterStatus::ALT_TOO_LOW;
         if (result != _cruise_criteria_msg_last) {
             gcs().send_text(MAV_SEVERITY_ALERT, "Reached lower alt = %dm", (int16_t)alt);
         }
     } else if ((AP_HAL::micros64() - _thermal_start_time_us) > ((unsigned)min_thermal_s * 1e6)) {
         const float mcCreadyAlt = McCready(alt);
         if (_thermalability < mcCreadyAlt) {
-            result = THERMAL_WEAK;
+            result = LoiterStatus::THERMAL_WEAK;
             if (result != _cruise_criteria_msg_last) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Thermal weak: th %3.1fm/s alt %3.1fm Mc %3.1fm/s", (double)_thermalability, (double)alt, (double)mcCreadyAlt);
             }
         } else if (alt < (-_thermal_start_pos.z) || _vario.smoothed_climb_rate < 0.0) {
-            result = ALT_LOST;
+            result = LoiterStatus::ALT_LOST;
             if (result != _cruise_criteria_msg_last) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Not climbing");
             }
         } else if (check_drift(prev_wp, next_wp)) {
-            result = DRIFT_EXCEEDED;
+            result = LoiterStatus::DRIFT_EXCEEDED;
             if (result != _cruise_criteria_msg_last) {
                 gcs().send_text(MAV_SEVERITY_INFO, "Drifted too far");
             }
@@ -288,7 +288,7 @@ void SoaringController::init_thermalling()
 
 void SoaringController::init_cruising()
 {
-    if (active_state()) {
+    if (active_state()>=ActiveStatus::MANUAL_MODE_CHANGE) {
         _cruise_start_time_us = AP_HAL::micros64();
         // Start glide. Will be updated on the next loop.
         set_throttle_suppressed(true);
@@ -359,43 +359,43 @@ float SoaringController::McCready(float alt)
 SoaringController::ActiveStatus SoaringController::active_state() const
 {
     if (!soar_active) {
-        return SOARING_STATUS_DISABLED;
+        return ActiveStatus::DISABLED;
     }
     if (soar_active_ch <= 0) {
         // no activation channel
-        return SOARING_STATUS_AUTO_MODE_CHANGE;
+        return ActiveStatus::AUTO_MODE_CHANGE;
     }
 
     uint16_t radio_in = RC_Channels::get_radio_in(soar_active_ch-1);
 
     // active when above 1400, with auto mode changes when above 1700
     if (radio_in >= 1700) {
-        return SOARING_STATUS_AUTO_MODE_CHANGE;
+        return ActiveStatus::AUTO_MODE_CHANGE;
     } else if (radio_in >= 1400) {
-        return SOARING_STATUS_MANUAL_MODE_CHANGE;
+        return ActiveStatus::MANUAL_MODE_CHANGE;
     }
 
-    return SOARING_STATUS_DISABLED;
+    return ActiveStatus::DISABLED;
 }
 
-SoaringController::ActiveStatus SoaringController::update_active_state()
+void SoaringController::update_active_state()
 {
     ActiveStatus status = active_state();
     bool state_changed = !(status == _last_update_status);
 
     if (state_changed) {
         switch (status) {
-            case SOARING_STATUS_DISABLED:
+            case ActiveStatus::DISABLED:
                 // It's not enabled, but was enabled on the last loop.
                 gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Disabled.");
                 set_throttle_suppressed(false);
                 break;
-            case SOARING_STATUS_MANUAL_MODE_CHANGE:
+            case ActiveStatus::MANUAL_MODE_CHANGE:
                 // It's enabled, but wasn't on the last loop.
                 gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Enabled, manual mode changes.");
                 set_throttle_suppressed(true);
                 break;
-            case SOARING_STATUS_AUTO_MODE_CHANGE:
+            case ActiveStatus::AUTO_MODE_CHANGE:
                 gcs().send_text(MAV_SEVERITY_INFO, "Soaring: Enabled, automatic mode changes.");
                 set_throttle_suppressed(true);
                 break;
@@ -403,8 +403,6 @@ SoaringController::ActiveStatus SoaringController::update_active_state()
     }
 
     _last_update_status = status;
-
-    return status;
 }
 
 

libraries/AP_Soaring/AP_Soaring.h

@@ -76,21 +76,21 @@ protected:
 public:
     SoaringController(AP_AHRS &ahrs, AP_SpdHgtControl &spdHgt, const AP_Vehicle::FixedWing &parms);
 
-    typedef enum LoiterStatus {
+    enum class LoiterStatus {
-        SOARING_DISABLED,
+        DISABLED,
         ALT_TOO_HIGH,
         ALT_TOO_LOW,
         THERMAL_WEAK,
         ALT_LOST,
         DRIFT_EXCEEDED,
-        THERMAL_GOOD_TO_KEEP_LOITERING
+        GOOD_TO_KEEP_LOITERING
-    } LoiterStatus;
+    };
 
-    typedef enum ActiveStatus {
+    enum class ActiveStatus {
-        SOARING_STATUS_DISABLED,
+        DISABLED,
-        SOARING_STATUS_MANUAL_MODE_CHANGE,
+        MANUAL_MODE_CHANGE,
-        SOARING_STATUS_AUTO_MODE_CHANGE
+        AUTO_MODE_CHANGE
-    } ActiveStatus;    
+    };
 
     AP_Float max_radius;
 
@@ -104,7 +104,6 @@ public:
     void init_cruising();
     void update_thermalling();
     void update_cruising();
-    ActiveStatus active_state() const;
     void set_throttle_suppressed(bool suppressed);
 
     bool get_throttle_suppressed() const
@@ -121,11 +120,15 @@ public:
 
     bool check_drift(Vector2f prev_wp, Vector2f next_wp);
 
-    ActiveStatus update_active_state();
+    void update_active_state();
 
-    ActiveStatus _last_update_status;
+    bool is_active() const {return _last_update_status>=SoaringController::ActiveStatus::MANUAL_MODE_CHANGE;};
 
 private:
     // slow down messages if they are the same. During loiter we could smap the same message. Only show new messages during loiters
     LoiterStatus _cruise_criteria_msg_last;
+
+    ActiveStatus _last_update_status;
+
+    ActiveStatus active_state() const;
 };