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Copter: make RTLState an enum class

This commit is contained in:
Pierre Kancir 2021-01-26 12:10:11 +01:00 committed by Andrew Tridgell
parent 4987e54247
commit c4cc3659fc
3 changed files with 40 additions and 40 deletions
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16
ArduCopter/mode.h
View File

@ -1116,13 +1116,13 @@ public:
bool get_wp(Location &loc) override;
// RTL states
enum RTLState {
RTL_Starting,
RTL_InitialClimb,
RTL_ReturnHome,
RTL_LoiterAtHome,
RTL_FinalDescent,
RTL_Land
enum class RTLState : uint8_t {
STARTING,
INITIAL_CLIMB,
RETURN_HOME,
LOITER_AT_HOME,
FINAL_DESCENT,
LAND
};
RTLState state() { return _state; }
@ -1167,7 +1167,7 @@ private:
void build_path();
void compute_return_target();
RTLState _state = RTL_InitialClimb; // records state of rtl (initial climb, returning home, etc)
RTLState _state = RTLState::INITIAL_CLIMB; // records state of rtl (initial climb, returning home, etc)
bool _state_complete = false; // set to true if the current state is completed
struct {

2
ArduCopter/mode_auto.cpp
View File

@ -1832,7 +1832,7 @@ bool ModeAuto::verify_loiter_to_alt() const
bool ModeAuto::verify_RTL()
{
return (copter.mode_rtl.state_complete() &&
(copter.mode_rtl.state() == ModeRTL::RTL_FinalDescent || copter.mode_rtl.state() == ModeRTL::RTL_Land) &&
(copter.mode_rtl.state() == ModeRTL::RTLState::FINAL_DESCENT || copter.mode_rtl.state() == ModeRTL::RTLState::LAND) &&
(motors->get_spool_state() == AP_Motors::SpoolState::GROUND_IDLE));
}

62
ArduCopter/mode_rtl.cpp
View File

@ -19,7 +19,7 @@ bool ModeRTL::init(bool ignore_checks)
}
// initialise waypoint and spline controller
wp_nav->wp_and_spline_init(g.rtl_speed_cms);
_state = RTL_Starting;
_state = RTLState::STARTING;
_state_complete = true; // see run() method below
terrain_following_allowed = !copter.failsafe.terrain;
return true;
@ -30,7 +30,7 @@ void ModeRTL::restart_without_terrain()
{
AP::logger().Write_Error(LogErrorSubsystem::NAVIGATION, LogErrorCode::RESTARTED_RTL);
terrain_following_allowed = false;
_state = RTL_Starting;
_state = RTLState::STARTING;
_state_complete = true;
gcs().send_text(MAV_SEVERITY_CRITICAL,"Restarting RTL - Terrain data missing");
}
@ -55,27 +55,27 @@ void ModeRTL::run(bool disarm_on_land)
// check if we need to move to next state
if (_state_complete) {
switch (_state) {
case RTL_Starting:
case RTLState::STARTING:
build_path();
climb_start();
break;
case RTL_InitialClimb:
case RTLState::INITIAL_CLIMB:
return_start();
break;
case RTL_ReturnHome:
case RTLState::RETURN_HOME:
loiterathome_start();
break;
case RTL_LoiterAtHome:
case RTLState::LOITER_AT_HOME:
if (rtl_path.land || copter.failsafe.radio) {
land_start();
}else{
descent_start();
}
break;
case RTL_FinalDescent:
case RTLState::FINAL_DESCENT:
// do nothing
break;
case RTL_Land:
case RTLState::LAND:
// do nothing - rtl_land_run will take care of disarming motors
break;
}
@ -84,28 +84,28 @@ void ModeRTL::run(bool disarm_on_land)
// call the correct run function
switch (_state) {
case RTL_Starting:
case RTLState::STARTING:
// should not be reached:
_state = RTL_InitialClimb;
_state = RTLState::INITIAL_CLIMB;
FALLTHROUGH;
case RTL_InitialClimb:
case RTLState::INITIAL_CLIMB:
climb_return_run();
break;
case RTL_ReturnHome:
case RTLState::RETURN_HOME:
climb_return_run();
break;
case RTL_LoiterAtHome:
case RTLState::LOITER_AT_HOME:
loiterathome_run();
break;
case RTL_FinalDescent:
case RTLState::FINAL_DESCENT:
descent_run();
break;
case RTL_Land:
case RTLState::LAND:
land_run(disarm_on_land);
break;
}
@ -114,7 +114,7 @@ void ModeRTL::run(bool disarm_on_land)
// rtl_climb_start - initialise climb to RTL altitude
void ModeRTL::climb_start()
{
_state = RTL_InitialClimb;
_state = RTLState::INITIAL_CLIMB;
_state_complete = false;
// set the destination
@ -133,7 +133,7 @@ void ModeRTL::climb_start()
// rtl_return_start - initialise return to home
void ModeRTL::return_start()
{
_state = RTL_ReturnHome;
_state = RTLState::RETURN_HOME;
_state_complete = false;
if (!wp_nav->set_wp_destination_loc(rtl_path.return_target)) {
@ -187,10 +187,10 @@ void ModeRTL::climb_return_run()
_state_complete = wp_nav->reached_wp_destination();
}
// rtl_loiterathome_start - initialise return to home
// loiterathome_start - initialise return to home
void ModeRTL::loiterathome_start()
{
_state = RTL_LoiterAtHome;
_state = RTLState::LOITER_AT_HOME;
_state_complete = false;
_loiter_start_time = millis();
@ -257,7 +257,7 @@ void ModeRTL::loiterathome_run()
// rtl_descent_start - initialise descent to final alt
void ModeRTL::descent_start()
{
_state = RTL_FinalDescent;
_state = RTLState::FINAL_DESCENT;
_state_complete = false;
// Set wp navigation target to above home
@ -346,10 +346,10 @@ void ModeRTL::descent_run()
_state_complete = labs(rtl_path.descent_target.alt - copter.current_loc.alt) < 20;
}
// rtl_loiterathome_start - initialise controllers to loiter over home
// land_start - initialise controllers to loiter over home
void ModeRTL::land_start()
{
_state = RTL_Land;
_state = RTLState::LAND;
_state_complete = false;
// Set wp navigation target to above home
@ -377,11 +377,11 @@ void ModeRTL::land_start()
bool ModeRTL::is_landing() const
{
return _state == RTL_Land;
return _state == RTLState::LAND;
}
// rtl_returnhome_run - return home
// called by rtl_run at 100hz or more
// land_run - run the landing controllers to put the aircraft on the ground
// called by rtl_run at 100hz or more
void ModeRTL::land_run(bool disarm_on_land)
{
// check if we've completed this stage of RTL
@ -546,13 +546,13 @@ bool ModeRTL::get_wp(Location& destination)
{
// provide target in states which use wp_nav
switch (_state) {
case RTL_Starting:
case RTL_InitialClimb:
case RTL_ReturnHome:
case RTL_LoiterAtHome:
case RTL_FinalDescent:
case RTLState::STARTING:
case RTLState::INITIAL_CLIMB:
case RTLState::RETURN_HOME:
case RTLState::LOITER_AT_HOME:
case RTLState::FINAL_DESCENT:
return wp_nav->get_oa_wp_destination(destination);
case RTL_Land:
case RTLState::LAND:
return false;
}