From 88b18bbad1be31cf31ff964c6cf6f3123948488d Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Sun, 11 May 2014 13:35:05 +0200 Subject: [PATCH] ALTCTRL/POSCTRL renamed to ALTCTL/POSCTL --- src/drivers/blinkm/blinkm.cpp | 4 +- src/modules/commander/commander.cpp | 46 +++++++++---------- .../state_machine_helper_test.cpp | 12 ++--- src/modules/commander/px4_custom_mode.h | 4 +- .../commander/state_machine_helper.cpp | 4 +- src/modules/fixedwing_backside/fixedwing.cpp | 4 +- src/modules/mavlink/mavlink_messages.cpp | 8 ++-- src/modules/segway/BlockSegwayController.cpp | 4 +- .../uORB/topics/manual_control_setpoint.h | 4 +- src/modules/uORB/topics/vehicle_status.h | 4 +- 10 files changed, 47 insertions(+), 47 deletions(-) diff --git a/src/drivers/blinkm/blinkm.cpp b/src/drivers/blinkm/blinkm.cpp index 974e20ca26..c41d8f2421 100644 --- a/src/drivers/blinkm/blinkm.cpp +++ b/src/drivers/blinkm/blinkm.cpp @@ -638,11 +638,11 @@ BlinkM::led() if(new_data_vehicle_control_mode || no_data_vehicle_control_mode < 3) { /* indicate main control state */ - if (vehicle_status_raw.main_state == MAIN_STATE_POSCTRL) + if (vehicle_status_raw.main_state == MAIN_STATE_POSCTL) led_color_4 = LED_GREEN; else if (vehicle_status_raw.main_state == MAIN_STATE_AUTO) led_color_4 = LED_BLUE; - else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTRL) + else if (vehicle_status_raw.main_state == MAIN_STATE_ALTCTL) led_color_4 = LED_YELLOW; else if (vehicle_status_raw.main_state == MAIN_STATE_MANUAL) led_color_4 = LED_WHITE; diff --git a/src/modules/commander/commander.cpp b/src/modules/commander/commander.cpp index e5124a31f1..8c7f6270df 100644 --- a/src/modules/commander/commander.cpp +++ b/src/modules/commander/commander.cpp @@ -435,13 +435,13 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe /* MANUAL */ main_res = main_state_transition(status, MAIN_STATE_MANUAL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTRL) { - /* ALTCTRL */ - main_res = main_state_transition(status, MAIN_STATE_ALTCTRL); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_ALTCTL) { + /* ALTCTL */ + main_res = main_state_transition(status, MAIN_STATE_ALTCTL); - } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTRL) { - /* POSCTRL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTRL); + } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_POSCTL) { + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (custom_main_mode == PX4_CUSTOM_MAIN_MODE_AUTO) { /* AUTO */ @@ -456,8 +456,8 @@ bool handle_command(struct vehicle_status_s *status, const struct safety_s *safe } else if (base_mode & MAV_MODE_FLAG_MANUAL_INPUT_ENABLED) { if (base_mode & MAV_MODE_FLAG_GUIDED_ENABLED) { - /* POSCTRL */ - main_res = main_state_transition(status, MAIN_STATE_POSCTRL); + /* POSCTL */ + main_res = main_state_transition(status, MAIN_STATE_POSCTL); } else if (base_mode & MAV_MODE_FLAG_STABILIZE_ENABLED) { /* MANUAL */ @@ -634,8 +634,8 @@ int commander_thread_main(int argc, char *argv[]) char *main_states_str[MAIN_STATE_MAX]; main_states_str[0] = "MANUAL"; - main_states_str[1] = "ALTCTRL"; - main_states_str[2] = "POSCTRL"; + main_states_str[1] = "ALTCTL"; + main_states_str[2] = "POSCTL"; main_states_str[3] = "AUTO"; char *arming_states_str[ARMING_STATE_MAX]; @@ -1335,8 +1335,8 @@ int commander_thread_main(int argc, char *argv[]) } // TODO remove this hack - /* flight termination in manual mode if assist switch is on posctrl position */ - if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctrl_switch == SWITCH_POS_ON) { + /* flight termination in manual mode if assist switch is on POSCTL position */ + if (!status.is_rotary_wing && parachute_enabled && armed.armed && status.main_state == MAIN_STATE_MANUAL && sp_man.posctl_switch == SWITCH_POS_ON) { if (TRANSITION_CHANGED == failsafe_state_transition(&status, FAILSAFE_STATE_TERMINATION)) { tune_positive(armed.armed); } @@ -1593,25 +1593,25 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; case SWITCH_POS_MIDDLE: // ASSIST - if (sp_man->posctrl_switch == SWITCH_POS_ON) { - res = main_state_transition(status, MAIN_STATE_POSCTRL); + if (sp_man->posctl_switch == SWITCH_POS_ON) { + res = main_state_transition(status, MAIN_STATE_POSCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state } - // else fallback to ALTCTRL - print_reject_mode(status, "POSCTRL"); + // else fallback to ALTCTL + print_reject_mode(status, "POSCTL"); } - res = main_state_transition(status, MAIN_STATE_ALTCTRL); + res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this mode } - if (sp_man->posctrl_switch != SWITCH_POS_ON) { - print_reject_mode(status, "ALTCTRL"); + if (sp_man->posctl_switch != SWITCH_POS_ON) { + print_reject_mode(status, "ALTCTL"); } // else fallback to MANUAL @@ -1626,9 +1626,9 @@ set_main_state_rc(struct vehicle_status_s *status, struct manual_control_setpoin break; // changed successfully or already in this state } - // else fallback to ALTCTRL (POSCTRL likely will not work too) + // else fallback to ALTCTL (POSCTL likely will not work too) print_reject_mode(status, "AUTO"); - res = main_state_transition(status, MAIN_STATE_ALTCTRL); + res = main_state_transition(status, MAIN_STATE_ALTCTL); if (res != TRANSITION_DENIED) { break; // changed successfully or already in this state @@ -1674,7 +1674,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_ALTCTRL: + case MAIN_STATE_ALTCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; @@ -1685,7 +1685,7 @@ set_control_mode() control_mode.flag_control_velocity_enabled = false; break; - case MAIN_STATE_POSCTRL: + case MAIN_STATE_POSCTL: control_mode.flag_control_manual_enabled = true; control_mode.flag_control_auto_enabled = false; control_mode.flag_control_rates_enabled = true; diff --git a/src/modules/commander/commander_tests/state_machine_helper_test.cpp b/src/modules/commander/commander_tests/state_machine_helper_test.cpp index 18586053b1..ee0d08391b 100644 --- a/src/modules/commander/commander_tests/state_machine_helper_test.cpp +++ b/src/modules/commander/commander_tests/state_machine_helper_test.cpp @@ -320,15 +320,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) // MANUAL to ALTCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = true; - new_main_state = MAIN_STATE_ALTCTRL; + new_main_state = MAIN_STATE_ALTCTL; ut_assert("tranisition: manual to altctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("new state: altctrl", MAIN_STATE_ALTCTRL == current_state.main_state); + ut_assert("new state: altctrl", MAIN_STATE_ALTCTL == current_state.main_state); // MANUAL to ALTCTRL, invalid local altitude. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_altitude_valid = false; - new_main_state = MAIN_STATE_ALTCTRL; + new_main_state = MAIN_STATE_ALTCTL; ut_assert("no transition: invalid local altitude", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); @@ -336,15 +336,15 @@ bool StateMachineHelperTest::mainStateTransitionTest(void) // MANUAL to POSCTRL. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = true; - new_main_state = MAIN_STATE_POSCTRL; + new_main_state = MAIN_STATE_POSCTL; ut_assert("transition: manual to posctrl", TRANSITION_CHANGED == main_state_transition(¤t_state, new_main_state)); - ut_assert("current state: posctrl", MAIN_STATE_POSCTRL == current_state.main_state); + ut_assert("current state: posctrl", MAIN_STATE_POSCTL == current_state.main_state); // MANUAL to POSCTRL, invalid local position. current_state.main_state = MAIN_STATE_MANUAL; current_state.condition_local_position_valid = false; - new_main_state = MAIN_STATE_POSCTRL; + new_main_state = MAIN_STATE_POSCTL; ut_assert("no transition: invalid position", TRANSITION_DENIED == main_state_transition(¤t_state, new_main_state)); ut_assert("current state: manual", MAIN_STATE_MANUAL == current_state.main_state); diff --git a/src/modules/commander/px4_custom_mode.h b/src/modules/commander/px4_custom_mode.h index e6274fb89d..a83c818507 100644 --- a/src/modules/commander/px4_custom_mode.h +++ b/src/modules/commander/px4_custom_mode.h @@ -12,8 +12,8 @@ enum PX4_CUSTOM_MAIN_MODE { PX4_CUSTOM_MAIN_MODE_MANUAL = 1, - PX4_CUSTOM_MAIN_MODE_ALTCTRL, - PX4_CUSTOM_MAIN_MODE_POSCTRL, + PX4_CUSTOM_MAIN_MODE_ALTCTL, + PX4_CUSTOM_MAIN_MODE_POSCTL, PX4_CUSTOM_MAIN_MODE_AUTO, }; diff --git a/src/modules/commander/state_machine_helper.cpp b/src/modules/commander/state_machine_helper.cpp index 3b6d951351..97a214c335 100644 --- a/src/modules/commander/state_machine_helper.cpp +++ b/src/modules/commander/state_machine_helper.cpp @@ -215,7 +215,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta ret = TRANSITION_CHANGED; break; - case MAIN_STATE_ALTCTRL: + case MAIN_STATE_ALTCTL: /* need at minimum altitude estimate */ if (!status->is_rotary_wing || @@ -226,7 +226,7 @@ main_state_transition(struct vehicle_status_s *status, main_state_t new_main_sta break; - case MAIN_STATE_POSCTRL: + case MAIN_STATE_POSCTL: /* need at minimum local position estimate */ if (status->condition_local_position_valid || diff --git a/src/modules/fixedwing_backside/fixedwing.cpp b/src/modules/fixedwing_backside/fixedwing.cpp index 596e286a45..bbb39f20f0 100644 --- a/src/modules/fixedwing_backside/fixedwing.cpp +++ b/src/modules/fixedwing_backside/fixedwing.cpp @@ -229,8 +229,8 @@ void BlockMultiModeBacksideAutopilot::update() _actuators.control[CH_RDR] = _manual.yaw; _actuators.control[CH_THR] = _manual.throttle; - } else if (_status.main_state == MAIN_STATE_ALTCTRL || - _status.main_state == MAIN_STATE_POSCTRL /* TODO, implement pos control */) { + } else if (_status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL /* TODO, implement pos control */) { // calculate velocity, XXX should be airspeed, but using ground speed for now // for the purpose of control we will limit the velocity feedback between diff --git a/src/modules/mavlink/mavlink_messages.cpp b/src/modules/mavlink/mavlink_messages.cpp index 9a7e636c30..b8879157e0 100644 --- a/src/modules/mavlink/mavlink_messages.cpp +++ b/src/modules/mavlink/mavlink_messages.cpp @@ -124,13 +124,13 @@ void get_mavlink_mode_state(struct vehicle_status_s *status, struct position_set *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | (status->is_rotary_wing ? MAV_MODE_FLAG_STABILIZE_ENABLED : 0); custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_MANUAL; - } else if (status->main_state == MAIN_STATE_ALTCTRL) { + } else if (status->main_state == MAIN_STATE_ALTCTL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTRL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_ALTCTL; - } else if (status->main_state == MAIN_STATE_POSCTRL) { + } else if (status->main_state == MAIN_STATE_POSCTL) { *mavlink_base_mode |= MAV_MODE_FLAG_MANUAL_INPUT_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; - custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTRL; + custom_mode.main_mode = PX4_CUSTOM_MAIN_MODE_POSCTL; } else if (status->main_state == MAIN_STATE_AUTO) { *mavlink_base_mode |= MAV_MODE_FLAG_AUTO_ENABLED | MAV_MODE_FLAG_STABILIZE_ENABLED | MAV_MODE_FLAG_GUIDED_ENABLED; diff --git a/src/modules/segway/BlockSegwayController.cpp b/src/modules/segway/BlockSegwayController.cpp index 6d46db9bd1..91230a37cb 100644 --- a/src/modules/segway/BlockSegwayController.cpp +++ b/src/modules/segway/BlockSegwayController.cpp @@ -35,8 +35,8 @@ void BlockSegwayController::update() { // handle autopilot modes if (_status.main_state == MAIN_STATE_AUTO || - _status.main_state == MAIN_STATE_ALTCTRL || - _status.main_state == MAIN_STATE_POSCTRL) { + _status.main_state == MAIN_STATE_ALTCTL || + _status.main_state == MAIN_STATE_POSCTL) { _actuators.control[0] = spdCmd; _actuators.control[1] = spdCmd; diff --git a/src/modules/uORB/topics/manual_control_setpoint.h b/src/modules/uORB/topics/manual_control_setpoint.h index 727be94922..ac394786da 100644 --- a/src/modules/uORB/topics/manual_control_setpoint.h +++ b/src/modules/uORB/topics/manual_control_setpoint.h @@ -77,8 +77,8 @@ struct manual_control_setpoint_s { float aux5; /**< default function: payload drop */ switch_pos_t mode_switch; /**< mode 3 position switch (mandatory): manual, assisted, auto */ - switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): no effect, return */ - switch_pos_t posctrl_switch; /**< posctrl 2 position switch (optional): altctrl, posctrl */ + switch_pos_t return_switch; /**< rturn to launch 2 position switch (mandatory): normal, return */ + switch_pos_t posctl_switch; /**< posctrl 2 position switch (optional): altctl, posctl */ switch_pos_t loiter_switch; /**< mission 2 position switch (optional): mission, loiter */ }; /**< manual control inputs */ diff --git a/src/modules/uORB/topics/vehicle_status.h b/src/modules/uORB/topics/vehicle_status.h index f401140ae9..f563552468 100644 --- a/src/modules/uORB/topics/vehicle_status.h +++ b/src/modules/uORB/topics/vehicle_status.h @@ -63,8 +63,8 @@ /* main state machine */ typedef enum { MAIN_STATE_MANUAL = 0, - MAIN_STATE_ALTCTRL, - MAIN_STATE_POSCTRL, + MAIN_STATE_ALTCTL, + MAIN_STATE_POSCTL, MAIN_STATE_AUTO, MAIN_STATE_MAX } main_state_t;