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Code Issues Releases Activity

OP-1740 UAV0 GetSet Functions Take Enum: getting codebase to compile - multiple changes needed, still incomplete (i.e. this commit will not compile, but I want to save my changes on more than just my machine :-)

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This commit is contained in:
Richard von Lehe 2015-04-08 21:40:15 -05:00
parent 242d810c37
commit 4c5cebf5c6
7 changed files with 23 additions and 19 deletions
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2
flight/modules/ManualControl/armhandler.c
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@ -179,6 +179,8 @@ void armHandler(bool newinit, FrameType_t frameType)
case FLIGHTMODESETTINGS_ARMING_ACCESSORY2:
armingInputLevel = -1.0f * acc.AccessoryVal;
break;
default:
break;
}
bool manualArm = false;

2
flight/modules/PathFollower/inc/vtollandcontroller.h
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@ -64,7 +64,7 @@ public:
private:
void UpdateVelocityDesired(void);
int8_t UpdateStabilizationDesired(bool yaw_attitude, float yaw_direction);
void setArmedIfChanged(uint8_t val);
void setArmedIfChanged(FlightStatusArmedOptions val);
PathFollowerFSM *fsm;
VtolPathFollowerSettingsData *vtolPathFollowerSettings;

4
flight/modules/PathFollower/inc/vtollandfsm.h
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@ -82,7 +82,7 @@ protected:
// FSM instance data type
typedef struct {
StatusVtolLandData fsmLandStatus;
PathFollowerFSM_LandState_T currentState;
StatusVtolLandStateOptions currentState;
TakeOffLocationData takeOffLocation;
uint32_t stateRunCount;
uint32_t stateTimeoutCount;
@ -133,7 +133,7 @@ protected:
void setup_abort(void);
void run_abort(uint8_t);
void initFSM(void);
void setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason);
void setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason);
int32_t runState();
int32_t runAlways();
void updateVtolLandFSMStatus();

2
flight/modules/PathFollower/vtolbrakecontroller.cpp
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@ -312,6 +312,8 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
// and a better throttle management to the standard Position Hold.
thrustMode = FLIGHTMODESETTINGS_STABILIZATION1SETTINGS_ALTITUDEVARIO;
break;
default:
break;
}
stabDesired.StabilizationMode.Thrust = thrustMode;
}

2
flight/modules/PathFollower/vtollandcontroller.cpp
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@ -274,7 +274,7 @@ void VtolLandController::UpdateAutoPilot()
PathStatusSet(pathStatus);
}
void VtolLandController::setArmedIfChanged(uint8_t val)
void VtolLandController::setArmedIfChanged(FlightStatusArmedOptions val)
{
if (flightStatus->Armed != val) {
flightStatus->Armed = val;

26
flight/modules/PathFollower/vtollandfsm.cpp
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@ -149,16 +149,16 @@ void VtolLandFSM::Inactive(void)
void VtolLandFSM::initFSM(void)
{
if (vtolPathFollowerSettings != 0) {
setState(LAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_INACTIVE, STATUSVTOLLAND_STATEEXITREASON_NONE);
} else {
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
}
}
void VtolLandFSM::Activate()
{
memset(mLandData, sizeof(VtolLandFSMData_T), 0);
mLandData->currentState = LAND_STATE_INACTIVE;
mLandData->currentState = STATUSVTOLLAND_STATE_INACTIVE;
mLandData->flLowAltitude = false;
mLandData->flAltitudeHold = false;
mLandData->fsmLandStatus.averageDescentRate = MIN_LANDRATE;
@ -167,38 +167,38 @@ void VtolLandFSM::Activate()
mLandData->boundThrustMin = vtolPathFollowerSettings->ThrustLimits.Min;
mLandData->boundThrustMax = vtolPathFollowerSettings->ThrustLimits.Max;
TakeOffLocationGet(&(mLandData->takeOffLocation));
mLandData->fsmLandStatus.AltitudeAtState[LAND_STATE_INACTIVE] = 0.0f;
mLandData->fsmLandStatus.AltitudeAtState[STATUSVTOLLAND_STATE_INACTIVE] = 0.0f;
assessAltitude();
if (pathDesired->Mode == PATHDESIRED_MODE_LAND) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_INIT_ALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_INITALTHOLD, STATUSVTOLLAND_STATEEXITREASON_NONE);
#else
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
#endif
} else {
// move to error state and callback to position hold
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
}
void VtolLandFSM::Abort(void)
{
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
PathFollowerFSMState_T VtolLandFSM::GetCurrentState(void)
{
switch (mLandData->currentState) {
case LAND_STATE_INACTIVE:
case STATUSVTOLLAND_STATE_INACTIVE:
return PFFSM_STATE_INACTIVE;
break;
case LAND_STATE_ABORT:
case STATUSVTOLLAND_STATE_ABORT:
return PFFSM_STATE_ABORT;
break;
case LAND_STATE_DISARMED:
case STATUSVTOLLAND_STATE_DISARMED:
return PFFSM_STATE_DISARMED;
break;
@ -278,7 +278,7 @@ void VtolLandFSM::CheckPidScaler(pid_scaler *local_scaler)
// Set the new state and perform setup for subsequent state run calls
// This is called by state run functions on event detection that drive
// state transitions.
void VtolLandFSM::setState(PathFollowerFSM_LandState_T newState, StatusVtolLandStateExitReasonOptions reason)
void VtolLandFSM::setState(StatusVtolLandStateOptions newState, StatusVtolLandStateExitReasonOptions reason)
{
mLandData->fsmLandStatus.StateExitReason[mLandData->currentState] = reason;
@ -287,7 +287,7 @@ void VtolLandFSM::setState(PathFollowerFSM_LandState_T newState, StatusVtolLandS
}
mLandData->currentState = newState;
if (newState != LAND_STATE_INACTIVE) {
if (newState != STATUSVTOLLAND_STATE_INACTIVE) {
PositionStateData positionState;
PositionStateGet(&positionState);
float takeOffDown = 0.0f;

4
flight/uavobjects/inc/uavobject.h.template
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@ -52,6 +52,8 @@ int32_t $(NAME)Initialize();
UAVObjHandle $(NAME)Handle();
void $(NAME)SetDefaults(UAVObjHandle obj, uint16_t instId);
$(DATAFIELDINFO)
$(DATASTRUCTURES)
/*
* Packed Object data (unaligned).
@ -86,8 +88,6 @@ static inline int32_t $(NAME)GetMetadata(UAVObjMetadata *dataOut) { return UAVOb
static inline int32_t $(NAME)SetMetadata(const UAVObjMetadata *dataIn) { return UAVObjSetMetadata($(NAME)Handle(), dataIn); }
static inline int8_t $(NAME)ReadOnly() { return UAVObjReadOnly($(NAME)Handle()); }
$(DATAFIELDINFO)
/* Set/Get functions */
$(SETGETFIELDSEXTERN)