From 2bb59171884d953510d7459f3c51fedf6627de3d Mon Sep 17 00:00:00 2001
From: Matthias Grob <maetugr@gmail.com>
Date: Thu, 30 Jul 2020 15:41:25 +0200
Subject: [PATCH] FailureDetector: refactor naming, member order

---
 .../failure_detector/FailureDetector.cpp      |  9 +++--
 .../failure_detector/FailureDetector.hpp      | 36 +++++++++----------
 2 files changed, 20 insertions(+), 25 deletions(-)

diff --git a/src/modules/commander/failure_detector/FailureDetector.cpp b/src/modules/commander/failure_detector/FailureDetector.cpp
index 18f5483e33..854567444c 100644
--- a/src/modules/commander/failure_detector/FailureDetector.cpp
+++ b/src/modules/commander/failure_detector/FailureDetector.cpp
@@ -78,7 +78,7 @@ FailureDetector::update(const vehicle_status_s &vehicle_status)
 		updated |= resetAttitudeStatus();
 	}
 
-	if (_sub_esc_status.updated()) {
+	if (_esc_status_sub.updated()) {
 
 		if (_param_escs_en.get()) {
 			updated |= updateEscsStatus(vehicle_status);
@@ -115,7 +115,7 @@ FailureDetector::updateAttitudeStatus()
 	bool updated(false);
 	vehicle_attitude_s attitude;
 
-	if (_sub_vehicule_attitude.update(&attitude)) {
+	if (_vehicule_attitude_sub.update(&attitude)) {
 
 		const matrix::Eulerf euler(matrix::Quatf(attitude.q));
 		const float roll(euler.phi());
@@ -160,7 +160,7 @@ FailureDetector::updateExternalAtsStatus()
 	pwm_input_s pwm_input;
 	bool updated(false);
 
-	if (_sub_pwm_input.update(&pwm_input)) {
+	if (_pwm_input_sub.update(&pwm_input)) {
 
 		uint32_t pulse_width = pwm_input.pulse_width;
 		bool ats_trigger_status = (pulse_width >= (uint32_t)_param_fd_ext_ats_trig.get()) && (pulse_width < 3_ms);
@@ -192,11 +192,10 @@ FailureDetector::updateEscsStatus(const vehicle_status_s &vehicle_status)
 	if (vehicle_status.arming_state == vehicle_status_s::ARMING_STATE_ARMED) {
 
 		esc_status_s esc_status{};
-		_sub_esc_status.copy(&esc_status);
+		_esc_status_sub.copy(&esc_status);
 
 		int all_escs_armed = (1 << esc_status.esc_count) - 1;
 
-
 		_esc_failure_hysteresis.set_hysteresis_time_from(false, 300_ms);
 		_esc_failure_hysteresis.set_state_and_update(all_escs_armed != esc_status.esc_armed_flags, time_now);
 
diff --git a/src/modules/commander/failure_detector/FailureDetector.hpp b/src/modules/commander/failure_detector/FailureDetector.hpp
index e4911c8006..247a84e47d 100644
--- a/src/modules/commander/failure_detector/FailureDetector.hpp
+++ b/src/modules/commander/failure_detector/FailureDetector.hpp
@@ -79,6 +79,22 @@ public:
 	bool isFailure() const { return _status != FAILURE_NONE; }
 
 private:
+	bool resetAttitudeStatus();
+	bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
+	bool updateAttitudeStatus();
+	bool updateExternalAtsStatus();
+	bool updateEscsStatus(const vehicle_status_s &vehicle_status);
+
+	uint8_t _status{FAILURE_NONE};
+
+	systemlib::Hysteresis _roll_failure_hysteresis{false};
+	systemlib::Hysteresis _pitch_failure_hysteresis{false};
+	systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
+	systemlib::Hysteresis _esc_failure_hysteresis{false};
+
+	uORB::Subscription _vehicule_attitude_sub{ORB_ID(vehicle_attitude)};
+	uORB::Subscription _esc_status_sub{ORB_ID(esc_status)};
+	uORB::Subscription _pwm_input_sub{ORB_ID(pwm_input)};
 
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::FD_FAIL_P>) _param_fd_fail_p,
@@ -88,25 +104,5 @@ private:
 		(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
 		(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
 		(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en
-
 	)
-
-	// Subscriptions
-	uORB::Subscription _sub_vehicule_attitude{ORB_ID(vehicle_attitude)};
-	uORB::Subscription _sub_esc_status{ORB_ID(esc_status)};
-	uORB::Subscription _sub_pwm_input{ORB_ID(pwm_input)};
-
-
-	uint8_t _status{FAILURE_NONE};
-
-	systemlib::Hysteresis _roll_failure_hysteresis{false};
-	systemlib::Hysteresis _pitch_failure_hysteresis{false};
-	systemlib::Hysteresis _ext_ats_failure_hysteresis{false};
-	systemlib::Hysteresis _esc_failure_hysteresis{false};
-
-	bool resetAttitudeStatus();
-	bool isAttitudeStabilized(const vehicle_status_s &vehicle_status);
-	bool updateAttitudeStatus();
-	bool updateExternalAtsStatus();
-	bool updateEscsStatus(const vehicle_status_s &vehicle_status);
 };