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msg/position_controller_landing_status.msg: fix constant name conventions 

- msg constant names now comply with ROS conventions:
uppercase alphanumeric characters with underscores for separating words

partially fix #19917

Signed-off-by: Beniamino Pozzan <beniamino.pozzan@phd.unipd.it>
This commit is contained in:
Beniamino Pozzan 2022-07-28 09:25:13 +01:00 committed by Daniel Agar
parent 9ed861e0a3
commit a20483ed11
3 changed files with 19 additions and 19 deletions
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10
msg/position_controller_landing_status.msg
View File

@ -9,8 +9,8 @@ uint8 abort_status
# abort reasons
# after the manual operator abort, corresponds to individual bits of param FW_LND_ABORT
uint8 kNotAborted = 0
uint8 kAbortedByOperator = 1
uint8 kTerrainNotFound = 2 # FW_LND_ABORT (1 << 0)
uint8 kTerrainTimeout = 3 # FW_LND_ABORT (1 << 1)
uint8 kUnknownAbortCriterion = 4
uint8 NOT_ABORTED = 0
uint8 ABORTED_BY_OPERATOR = 1
uint8 TERRAIN_NOT_FOUND = 2 # FW_LND_ABORT (1 << 0)
uint8 TERRAIN_TIMEOUT = 3 # FW_LND_ABORT (1 << 1)
uint8 UNKNOWN_ABORT_CRITERION = 4

24
src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View File

@ -234,7 +234,7 @@ FixedwingPositionControl::vehicle_command_poll()
_pos_sp_triplet.current.valid &&
(_pos_sp_triplet.current.type == position_setpoint_s::SETPOINT_TYPE_LAND)) {
updateLandingAbortStatus(position_controller_landing_status_s::kAbortedByOperator);
updateLandingAbortStatus(position_controller_landing_status_s::ABORTED_BY_OPERATOR);
}
} else if (vehicle_command.command == vehicle_command_s::VEHICLE_CMD_DO_CHANGE_SPEED) {
@ -613,21 +613,21 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
if (new_abort_status > 0 && _landing_abort_status != new_abort_status) {
switch (new_abort_status) {
case (position_controller_landing_status_s::kAbortedByOperator): {
case (position_controller_landing_status_s::ABORTED_BY_OPERATOR): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted by operator\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_operator_abort"), events::Log::Critical,
"Landing aborted by operator");
break;
}
case (position_controller_landing_status_s::kTerrainNotFound): {
case (position_controller_landing_status_s::TERRAIN_NOT_FOUND): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate not found\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_not_found"), events::Log::Critical,
"Landing aborted: terrain measurement not found");
break;
}
case (position_controller_landing_status_s::kTerrainTimeout): {
case (position_controller_landing_status_s::TERRAIN_TIMEOUT): {
mavlink_log_critical(&_mavlink_log_pub, "Landing aborted: terrain estimate timed out\t");
events::send(events::ID("fixedwing_position_control_landing_abort_status_terrain_timeout"), events::Log::Critical,
"Landing aborted: terrain estimate timed out");
@ -642,8 +642,8 @@ FixedwingPositionControl::updateLandingAbortStatus(const uint8_t new_abort_statu
}
}
_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::kUnknownAbortCriterion) ?
position_controller_landing_status_s::kUnknownAbortCriterion : new_abort_status;
_landing_abort_status = (new_abort_status >= position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION) ?
position_controller_landing_status_s::UNKNOWN_ABORT_CRITERION : new_abort_status;
landing_status_publish();
}
@ -1351,7 +1351,7 @@ FixedwingPositionControl::control_auto_loiter(const float control_interval, cons
if (_landing_abort_status) {
if (pos_sp_curr.alt - _current_altitude < _param_fw_clmbout_diff.get()) {
// aborted landing complete, normal loiter over landing point
updateLandingAbortStatus(position_controller_landing_status_s::kNotAborted);
updateLandingAbortStatus(position_controller_landing_status_s::NOT_ABORTED);
} else {
// continue straight until vehicle has sufficient altitude
@ -2364,7 +2364,7 @@ FixedwingPositionControl::reset_landing_state()
// reset abort land, unless loitering after an abort
if (_landing_abort_status && (_pos_sp_triplet.current.type != position_setpoint_s::SETPOINT_TYPE_LOITER)) {
updateLandingAbortStatus(position_controller_landing_status_s::kNotAborted);
updateLandingAbortStatus(position_controller_landing_status_s::NOT_ABORTED);
}
}
@ -2668,10 +2668,10 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
const bool terrain_first_measurement_timed_out = (now - _time_started_landing) > TERRAIN_ALT_FIRST_MEASUREMENT_TIMEOUT;
const bool abort_on_terrain_measurement_timeout = checkLandingAbortBitMask(_param_fw_lnd_abort.get(),
position_controller_landing_status_s::kTerrainNotFound);
position_controller_landing_status_s::TERRAIN_NOT_FOUND);
if (terrain_first_measurement_timed_out && abort_on_terrain_measurement_timeout) {
updateLandingAbortStatus(position_controller_landing_status_s::kTerrainNotFound);
updateLandingAbortStatus(position_controller_landing_status_s::TERRAIN_NOT_FOUND);
}
return land_point_altitude;
@ -2681,10 +2681,10 @@ FixedwingPositionControl::getLandingTerrainAltitudeEstimate(const hrt_abstime &n
const bool terrain_timed_out = (now - _last_time_terrain_alt_was_valid) > TERRAIN_ALT_TIMEOUT;
const bool abort_on_terrain_timeout = checkLandingAbortBitMask(_param_fw_lnd_abort.get(),
position_controller_landing_status_s::kTerrainTimeout);
position_controller_landing_status_s::TERRAIN_TIMEOUT);
if (terrain_timed_out && abort_on_terrain_timeout) {
updateLandingAbortStatus(position_controller_landing_status_s::kTerrainTimeout);
updateLandingAbortStatus(position_controller_landing_status_s::TERRAIN_TIMEOUT);
}
return _last_valid_terrain_alt_estimate;

4
src/modules/fw_pos_control_l1/FixedwingPositionControl.hpp
View File

@ -338,7 +338,7 @@ private:
// [m] relative height above land point
float _landing_approach_entrance_rel_alt{0.0f};
uint8_t _landing_abort_status{position_controller_landing_status_s::kNotAborted};
uint8_t _landing_abort_status{position_controller_landing_status_s::NOT_ABORTED};
bool _flaring{false};
hrt_abstime _time_started_flaring{0}; // [us]
@ -436,7 +436,7 @@ private:
*
* @param new_abort_status Either 0 (not aborted) or the singular bit >0 which triggered the abort
*/
void updateLandingAbortStatus(const uint8_t new_abort_status = position_controller_landing_status_s::kNotAborted);
void updateLandingAbortStatus(const uint8_t new_abort_status = position_controller_landing_status_s::NOT_ABORTED);
/**
* @brief Checks if the automatic abort bitmask (from FW_LND_ABORT) contains the given abort criterion.