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AC_Fence: small comment improvements. Do not call the same function four times

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Dr.-Ing. Amilcar do Carmo Lucas 2021-01-06 13:15:59 +01:00 committed by Peter Barker
parent 15e95be7d7
commit 2e422f249a
2 changed files with 18 additions and 15 deletions
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31
libraries/AC_Fence/AC_Fence.cpp
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@ -23,8 +23,10 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Param: TYPE
// @DisplayName: Fence Type
// @Description: Enabled fence types held as bitmask
// @Values: 0:None,1:Altitude,2:Circle,3:Altitude and Circle,4:Polygon,5:Altitude and Polygon,6:Circle and Polygon,7:All
// @Bitmask: 0:Altitude,1:Circle,2:Polygon
// @Values{Rover}: 0:None,1:Altitude,2:Circle,3:Altitude and Circle,4:Polygon,5:Altitude and Polygon,6:Circle and Polygon,7:All
// @Values{Copter, Plane, Sub}: 0:None,1:Max altitude,2:Circle,3:Max altitude and Circle,4:Polygon,5:Max altitude and Polygon,6:Circle and Polygon,7:Max altitude circle and Polygon,8:Min altitude
// @Bitmask{Rover}: 0:Altitude,1:Circle,2:Polygon
// @Bitmask{Copter, Plane, Sub}: 0:Max altitude,1:Circle,2:Polygon,3:Min altitude
// @User: Standard
AP_GROUPINFO("TYPE", 1, AC_Fence, _enabled_fences, AC_FENCE_TYPE_DEFAULT),
@ -81,7 +83,7 @@ const AP_Param::GroupInfo AC_Fence::var_info[] = {
// @Param{Plane}: RET_RALLY
// @DisplayName: Fence Return to Rally
// @Description: Should the vehichle return to fence return point or rally point
// @Description: Should the vehicle return to fence return point or rally point
// @Values: 0:Fence Return Point,1:Nearest Rally Point
// @Range: 0 1
// @Increment: 1
@ -153,20 +155,21 @@ void AC_Fence::disable_floor()
// Floor is currently enabled, disable it
AP::logger().Write_Event(LogEvent::FENCE_FLOOR_DISABLE);
}
_floor_enabled = true;
_floor_enabled = false;
clear_breach(AC_FENCE_TYPE_ALT_MIN);
}
bool AC_Fence::present() const
{
const auto enabled_fences = _enabled_fences.get();
// A fence is present if any of the conditions are true.
// * tin can (circle) is enabled
// * min or max alt is enabled
// * polygon fences are enabled and any fence has been uploaded
if (_enabled_fences.get() & AC_FENCE_TYPE_CIRCLE ||
_enabled_fences.get() & AC_FENCE_TYPE_ALT_MIN ||
_enabled_fences.get() & AC_FENCE_TYPE_ALT_MAX ||
((_enabled_fences.get() & AC_FENCE_TYPE_POLYGON) && _poly_loader.total_fence_count() > 0)) {
if (enabled_fences & AC_FENCE_TYPE_CIRCLE ||
enabled_fences & AC_FENCE_TYPE_ALT_MIN ||
enabled_fences & AC_FENCE_TYPE_ALT_MAX ||
((enabled_fences & AC_FENCE_TYPE_POLYGON) && _poly_loader.total_fence_count() > 0)) {
return true;
}
@ -306,16 +309,16 @@ bool AC_Fence::check_fence_alt_max()
// create a backup fence 20m higher up
_alt_max_backup = _curr_alt + AC_FENCE_ALT_MAX_BACKUP_DISTANCE;
// new breach:
// new breach
return true;
}
// old breach:
// old breach
return false;
}
// not breached
// clear alt breach if present
// clear max alt breach if present
if ((_breached_fences & AC_FENCE_TYPE_ALT_MAX) != 0) {
clear_breach(AC_FENCE_TYPE_ALT_MAX);
_alt_max_backup = 0.0f;
@ -332,7 +335,7 @@ bool AC_Fence::check_fence_alt_min()
{
// altitude fence check
if (!(_enabled_fences & AC_FENCE_TYPE_ALT_MIN)) {
// not enabled
// not enabled; no breach
return false;
}
@ -363,7 +366,7 @@ bool AC_Fence::check_fence_alt_min()
// not breached
// clear alt breach if present
// clear min alt breach if present
if ((_breached_fences & AC_FENCE_TYPE_ALT_MIN) != 0) {
clear_breach(AC_FENCE_TYPE_ALT_MIN);
_alt_min_backup = 0.0f;
@ -570,7 +573,7 @@ float AC_Fence::get_breach_distance(uint8_t fence_type) const
max = MAX(_alt_max_breach_distance, max);
}
if (fence_type & AC_FENCE_TYPE_ALT_MIN) {
max = MAX(_alt_max_breach_distance, max);
max = MAX(_alt_min_breach_distance, max);
}
if (fence_type & AC_FENCE_TYPE_CIRCLE) {
max = MAX(_circle_breach_distance, max);

2
libraries/AC_Fence/AC_Fence.h
View File

@ -65,7 +65,7 @@ public:
/// enable - allows fence to be enabled/disabled.
void enable(bool value);
/// auto_enabled -
/// auto_enabled - automaticaly enable/disable fence depending of flight status
AutoEnable auto_enabled() { return static_cast<AutoEnable>(_auto_enabled.get()); }
/// enable_floor - allows fence floor to be enabled/disabled. Note this does not update the eeprom saved value