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Code Issues Releases Activity

OP-1350 fix a bug that overwrite TakeOffLocation when changing mode to preset after an arming sequence. cleanup and get rid of "pending" status

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This commit is contained in:
Alessio Morale 2014-05-16 21:53:05 +02:00
parent 80bd04075f
commit ffa5e66d8b
1 changed files with 22 additions and 29 deletions
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51
flight/modules/ManualControl/takeofflocationhandler.c
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@ -32,14 +32,9 @@
// Private constants
// Private types
typedef enum {
HANDLER_STATUS_UNSET,
HANDLER_STATUS_PENDING,
HANDLER_STATUS_SET,
} HandlerStatus_t;
// Private variables
static HandlerStatus_t handlerStatus;
static bool locationSet;
// Private functions
static void SetTakeOffLocation();
@ -51,10 +46,11 @@ void takeOffLocationHandlerInit()
uint8_t status;
TakeOffLocationModeGet(&mode);
TakeOffLocationStatusGet(&status);
// preset with invalid location will actually behave like FirstTakeoff
if (mode == TAKEOFFLOCATION_MODE_PRESET && status == TAKEOFFLOCATION_STATUS_VALID) {
handlerStatus = HANDLER_STATUS_SET;
locationSet = true;
} else {
handlerStatus = HANDLER_STATUS_UNSET;
locationSet = false;
status = TAKEOFFLOCATION_STATUS_INVALID;
TakeOffLocationStatusSet(&status);
}
@ -70,42 +66,36 @@ void takeOffLocationHandler()
FlightStatusArmedGet(&armed);
// Location already acquired/preset
if (armed == FLIGHTSTATUS_ARMED_ARMED && handlerStatus == HANDLER_STATUS_SET) {
if (armed == FLIGHTSTATUS_ARMED_ARMED && locationSet) {
return;
}
switch (armed) {
case FLIGHTSTATUS_ARMED_ARMING:
case FLIGHTSTATUS_ARMED_ARMED:
if (handlerStatus == HANDLER_STATUS_UNSET) {
// this is just a safety "net", should for any reason the ARMING status is skipped
SetTakeOffLocation();
} else if (handlerStatus == HANDLER_STATUS_PENDING) {
// confirms a "pending" TakeOffPosition
uint8_t newStatus = TAKEOFFLOCATION_STATUS_VALID;
TakeOffLocationStatusSet(&newStatus);
handlerStatus = HANDLER_STATUS_SET;
if (!locationSet) {
uint8_t mode;
uint8_t status;
TakeOffLocationStatusSet(&status);
TakeOffLocationModeGet(&mode);
if ((mode != TAKEOFFLOCATION_MODE_PRESET) || (status == TAKEOFFLOCATION_STATUS_INVALID)) {
SetTakeOffLocation();
} else {
locationSet = true;
}
}
break;
case FLIGHTSTATUS_ARMED_DISARMED:
// unset if location is to be acquired at each arming
if (handlerStatus == HANDLER_STATUS_SET) {
if (locationSet) {
uint8_t mode;
TakeOffLocationModeGet(&mode);
if (mode == TAKEOFFLOCATION_MODE_ARMINGLOCATION) {
handlerStatus = HANDLER_STATUS_UNSET;
locationSet = false;
uint8_t newStatus = TAKEOFFLOCATION_STATUS_INVALID;
TakeOffLocationStatusSet(&newStatus);
}
// Clear a previous "pending" flag
} else if (handlerStatus == HANDLER_STATUS_PENDING) {
handlerStatus = HANDLER_STATUS_UNSET;
}
break;
case FLIGHTSTATUS_ARMED_ARMING:
if (handlerStatus == HANDLER_STATUS_UNSET) {
SetTakeOffLocation();
}
break;
}
@ -119,11 +109,14 @@ void SetTakeOffLocation()
TakeOffLocationData takeOffLocation;
TakeOffLocationGet(&takeOffLocation);
PositionStateData positionState;
PositionStateGet(&positionState);
takeOffLocation.North = positionState.North;
takeOffLocation.East = positionState.East;
takeOffLocation.Down = positionState.Down;
TakeOffLocationSet(&takeOffLocation);
handlerStatus = HANDLER_STATUS_PENDING;
locationSet = true;
}