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OP-1740: GetSet functions take enum: Fix remaining compile errors in PathFollower and Airspeed modules.

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This commit is contained in:
Richard von Lehe 2015-04-09 20:04:44 -05:00
parent 4c5cebf5c6
commit b3a7a89dca
3 changed files with 16 additions and 14 deletions
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2
flight/modules/Airspeed/airspeed.c
View File

@ -169,6 +169,8 @@ static void airspeedTask(__attribute__((unused)) void *parameters)
imu_airspeedInitialize(&airspeedSettings);
}
break;
default:
break;
}
}
switch (airspeedSettings.AirspeedSensorType) {

2
flight/modules/PathFollower/vtolbrakecontroller.cpp
View File

@ -315,7 +315,7 @@ int8_t VtolBrakeController::UpdateStabilizationDesired(void)
default:
break;
}
stabDesired.StabilizationMode.Thrust = thrustMode;
stabDesired.StabilizationMode.Thrust = (StabilizationDesiredStabilizationModeOptions) thrustMode;
}
// set the thrust value

26
flight/modules/PathFollower/vtollandfsm.cpp
View File

@ -390,7 +390,7 @@ void VtolLandFSM::run_init_althold(uint8_t flTimeout)
{
if (flTimeout) {
mLandData->flAltitudeHold = false;
setState(LAND_STATE_WTG_FOR_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_WTGFORDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -427,13 +427,13 @@ void VtolLandFSM::run_wtg_for_descentrate(uint8_t flTimeout)
if (velocityState.Down > (LANDRATE_LOWLIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate) &&
velocityState.Down < (LANDRATE_HILIMIT_FACTOR * mLandData->fsmLandStatus.targetDescentRate)) {
if (mLandData->observationCount++ > WTG_FOR_DESCENTRATE_COUNT_LIMIT) {
setState(LAND_STATE_AT_DESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
setState(STATUSVTOLLAND_STATE_ATDESCENTRATE, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
return;
}
}
if (flTimeout) {
setState(LAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_ABORT, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -476,7 +476,7 @@ void VtolLandFSM::run_at_descentrate(uint8_t flTimeout)
mLandData->fsmLandStatus.calculatedNeutralThrust = boundf(mLandData->fsmLandStatus.calculatedNeutralThrust, vtolPathFollowerSettings->ThrustLimits.Neutral, vtolPathFollowerSettings->ThrustLimits.Max);
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_DESCENTRATEOK);
}
}
@ -534,7 +534,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
if (flBounce || flBounceAccel) {
mLandData->observation2Count++;
if (mLandData->observation2Count > BOUNCE_TRIGGER_COUNT) {
setState(LAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, (flBounce ? STATUSVTOLLAND_STATEEXITREASON_BOUNCEVELOCITY : STATUSVTOLLAND_STATEEXITREASON_BOUNCEACCEL));
return;
}
} else {
@ -548,7 +548,7 @@ void VtolLandFSM::run_wtg_for_groundeffect(__attribute__((unused)) uint8_t flTim
mLandData->observationCount++;
if (mLandData->observationCount > GROUNDEFFECT_SLOWDOWN_COUNT) {
#ifndef DEBUG_GROUNDIMPACT
setState(LAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
setState(STATUSVTOLLAND_STATE_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_LOWDESCENTRATE);
#endif
return;
}
@ -580,7 +580,7 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
return;
}
@ -597,12 +597,12 @@ void VtolLandFSM::run_groundeffect(__attribute__((unused)) uint8_t flTimeout)
float east_error = mLandData->expectedLandPositionEast - positionState.East;
float positionError = sqrtf(north_error * north_error + east_error * east_error);
if (positionError > 0.3f) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_POSITIONERROR);
return;
}
if (flTimeout) {
setState(LAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_THRUSTDOWN, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -628,11 +628,11 @@ void VtolLandFSM::run_thrustdown(__attribute__((unused)) uint8_t flTimeout)
StabilizationDesiredData stabDesired;
StabilizationDesiredGet(&stabDesired);
if (stabDesired.Thrust < 0.0f || mLandData->thrustLimit < 0.0f) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_ZEROTHRUST);
}
if (flTimeout) {
setState(LAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
setState(STATUSVTOLLAND_STATE_THRUSTOFF, STATUSVTOLLAND_STATEEXITREASON_TIMEOUT);
}
}
@ -647,7 +647,7 @@ void VtolLandFSM::setup_thrustoff(void)
void VtolLandFSM::run_thrustoff(__attribute__((unused)) uint8_t flTimeout)
{
setState(LAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_DISARMED, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
// STATE: DISARMED
@ -665,7 +665,7 @@ void VtolLandFSM::run_disarmed(__attribute__((unused)) uint8_t flTimeout)
{
#ifdef DEBUG_GROUNDIMPACT
if (mLandData->observationCount++ > 100) {
setState(LAND_STATE_WTG_FOR_GROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
setState(STATUSVTOLLAND_STATE_WTGFORGROUNDEFFECT, STATUSVTOLLAND_STATEEXITREASON_NONE);
}
#endif
}