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vehicle_command: shorten arming action/origin enum names

master
Matthias Grob 3 years ago
parent
709c909929
commit
93bed7f670
3 changed files with 33 additions and 33 deletions
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  1. 12
      msg/vehicle_command.msg
  2. 34
      src/modules/commander/Commander.cpp
  3. 20
      src/modules/manual_control/ManualControl.cpp

12
msg/vehicle_command.msg
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@ -151,14 +151,14 @@ uint8 FAILURE_TYPE_DELAYED = 6
uint8 FAILURE_TYPE_INTERMITTENT = 7 uint8 FAILURE_TYPE_INTERMITTENT = 7
# used as param1 in ARM_DISARM command # used as param1 in ARM_DISARM command
int8 ARM_DISARM_ARMING_ACTION_TOGGLE = -1 int8 ARMING_ACTION_TOGGLE = -1
int8 ARM_DISARM_ARMING_ACTION_DISARM = 0 int8 ARMING_ACTION_DISARM = 0
int8 ARM_DISARM_ARMING_ACTION_ARM = 1 int8 ARMING_ACTION_ARM = 1
# used as param3 in ARM_DISARM command # used as param3 in ARM_DISARM command
int8 ARM_DISARM_ARMING_ORIGIN_GESTURE = 1 int8 ARMING_ORIGIN_GESTURE = 1
int8 ARM_DISARM_ARMING_ORIGIN_SWITCH = 2 int8 ARMING_ORIGIN_SWITCH = 2
int8 ARM_DISARM_ARMING_ORIGIN_BUTTON = 3 int8 ARMING_ORIGIN_BUTTON = 3
uint8 ORB_QUEUE_LENGTH = 8 uint8 ORB_QUEUE_LENGTH = 8

34
src/modules/commander/Commander.cpp
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@ -275,7 +275,7 @@ int Commander::custom_command(int argc, char *argv[])
} }
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM), static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
param2); param2);
return 0; return 0;
@ -290,7 +290,7 @@ int Commander::custom_command(int argc, char *argv[])
} }
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM), static_cast<float>(vehicle_command_s::ARMING_ACTION_DISARM),
param2); param2);
return 0; return 0;
@ -300,7 +300,7 @@ int Commander::custom_command(int argc, char *argv[])
// switch to takeoff mode and arm // switch to takeoff mode and arm
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF); send_vehicle_command(vehicle_command_s::VEHICLE_CMD_NAV_TAKEOFF);
send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM, send_vehicle_command(vehicle_command_s::VEHICLE_CMD_COMPONENT_ARM_DISARM,
static_cast<float>(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM), static_cast<float>(vehicle_command_s::ARMING_ACTION_ARM),
0.f); 0.f);
return 0; return 0;
@ -852,9 +852,9 @@ Commander::handle_command(const vehicle_command_s &cmd)
// for logic state parameters // for logic state parameters
const int8_t arming_action = static_cast<int8_t>(lroundf(cmd.param1)); const int8_t arming_action = static_cast<int8_t>(lroundf(cmd.param1));
if (arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM if (arming_action != vehicle_command_s::ARMING_ACTION_ARM
&& arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM && arming_action != vehicle_command_s::ARMING_ACTION_DISARM
&& arming_action != vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE) { && arming_action != vehicle_command_s::ARMING_ACTION_TOGGLE) {
mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1); mavlink_log_critical(&_mavlink_log_pub, "Unsupported ARM_DISARM param: %.3f\t", (double)cmd.param1);
events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error, events::send<float>(events::ID("commander_unsupported_arm_disarm_param"), events::Log::Error,
"Unsupported ARM_DISARM param: {1:.3}", cmd.param1); "Unsupported ARM_DISARM param: {1:.3}", cmd.param1);
@ -865,16 +865,16 @@ Commander::handle_command(const vehicle_command_s &cmd)
const int8_t arming_origin = static_cast<int8_t>(lroundf(cmd.param3)); const int8_t arming_origin = static_cast<int8_t>(lroundf(cmd.param3));
const bool cmd_from_manual_stick = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); const bool cmd_from_manual_stick = (arming_origin == vehicle_command_s::ARMING_ORIGIN_GESTURE);
const bool cmd_from_manual_switch = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); const bool cmd_from_manual_switch = (arming_origin == vehicle_command_s::ARMING_ORIGIN_SWITCH);
const bool cmd_from_manual_button = (arming_origin == vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_BUTTON); const bool cmd_from_manual_button = (arming_origin == vehicle_command_s::ARMING_ORIGIN_BUTTON);
const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234); const bool cmd_from_io = (static_cast<int>(roundf(cmd.param3)) == 1234);
if (cmd_from_manual_stick && !_vehicle_control_mode.flag_control_manual_enabled) { if (cmd_from_manual_stick && !_vehicle_control_mode.flag_control_manual_enabled) {
if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first"); mavlink_log_critical(&_mavlink_log_pub, "Not arming! Switch to a manual mode first");
} else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM) { } else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) {
mavlink_log_critical(&_mavlink_log_pub, "Not disarming! Switch to a manual mode first"); mavlink_log_critical(&_mavlink_log_pub, "Not disarming! Switch to a manual mode first");
} }
@ -884,7 +884,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
if (!forced) { if (!forced) {
if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) { if (!(_land_detector.landed || _land_detector.maybe_landed) && !is_ground_rover(_status)) {
if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
if (_armed.armed) { if (_armed.armed) {
mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed\t"); mavlink_log_warning(&_mavlink_log_pub, "Arming denied! Already armed\t");
events::send(events::ID("commander_arming_denied_already_armed"), events::send(events::ID("commander_arming_denied_already_armed"),
@ -911,14 +911,14 @@ Commander::handle_command(const vehicle_command_s &cmd)
// Flick to in-air restore first if this comes from an onboard system and from IO // Flick to in-air restore first if this comes from an onboard system and from IO
if (cmd.source_system == _status.system_id && cmd.source_component == _status.component_id if (cmd.source_system == _status.system_id && cmd.source_component == _status.component_id
&& cmd_from_io && (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM)) { && cmd_from_io && (arming_action == vehicle_command_s::ARMING_ACTION_ARM)) {
_status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE; _status.arming_state = vehicle_status_s::ARMING_STATE_IN_AIR_RESTORE;
} }
} }
transition_result_t arming_res = TRANSITION_DENIED; transition_result_t arming_res = TRANSITION_DENIED;
if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) { if (arming_action == vehicle_command_s::ARMING_ACTION_ARM) {
if (cmd.from_external) { if (cmd.from_external) {
arming_res = arm(arm_disarm_reason_t::command_external); arming_res = arm(arm_disarm_reason_t::command_external);
@ -934,7 +934,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} }
} }
} else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM) { } else if (arming_action == vehicle_command_s::ARMING_ACTION_DISARM) {
if (cmd.from_external) { if (cmd.from_external) {
arming_res = disarm(arm_disarm_reason_t::command_external); arming_res = disarm(arm_disarm_reason_t::command_external);
@ -950,7 +950,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
} }
} }
} else if (arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE) { } else if (arming_action == vehicle_command_s::ARMING_ACTION_TOGGLE) {
// -1 means toggle by a button // -1 means toggle by a button
// This should come from an arming button internally, otherwise something is wrong. // This should come from an arming button internally, otherwise something is wrong.
if (!cmd.from_external && cmd_from_manual_button) { if (!cmd.from_external && cmd_from_manual_button) {
@ -974,7 +974,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED; cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
/* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */ /* update home position on arming if at least 500 ms from commander start spent to avoid setting home on in-air restart */
if ((arming_action == vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED) && if ((arming_action == vehicle_command_s::ARMING_ACTION_ARM) && (arming_res == TRANSITION_CHANGED) &&
(hrt_absolute_time() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) && !_home_pub.get().manual_home) { (hrt_absolute_time() > (_boot_timestamp + INAIR_RESTART_HOLDOFF_INTERVAL)) && !_home_pub.get().manual_home) {
set_home_position(); set_home_position();

20
src/modules/manual_control/ManualControl.cpp
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@ -131,8 +131,8 @@ void ManualControl::Run()
if (_selector.setpoint().arm_gesture && !_previous_arm_gesture) { if (_selector.setpoint().arm_gesture && !_previous_arm_gesture) {
_previous_arm_gesture = true; _previous_arm_gesture = true;
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM, send_arm_command(vehicle_command_s::ARMING_ACTION_ARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); vehicle_command_s::ARMING_ORIGIN_GESTURE);
} }
@ -142,8 +142,8 @@ void ManualControl::Run()
if (_selector.setpoint().disarm_gesture && !_previous_disarm_gesture) { if (_selector.setpoint().disarm_gesture && !_previous_disarm_gesture) {
_previous_disarm_gesture = true; _previous_disarm_gesture = true;
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM, send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_GESTURE); vehicle_command_s::ARMING_ORIGIN_GESTURE);
} }
@ -182,19 +182,19 @@ void ManualControl::Run()
_button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now); _button_hysteresis.set_state_and_update(switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON, now);
if (_button_hysteresis.get_state()) { if (_button_hysteresis.get_state()) {
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_TOGGLE, send_arm_command(vehicle_command_s::ARMING_ACTION_TOGGLE,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_BUTTON); vehicle_command_s::ARMING_ORIGIN_BUTTON);
} }
} else { } else {
// Arming switch // Arming switch
if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) { if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_ON) {
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_ARM, send_arm_command(vehicle_command_s::ARMING_ACTION_ARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); vehicle_command_s::ARMING_ORIGIN_SWITCH);
} else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) { } else if (switches.arm_switch == manual_control_switches_s::SWITCH_POS_OFF) {
send_arm_command(vehicle_command_s::ARM_DISARM_ARMING_ACTION_DISARM, send_arm_command(vehicle_command_s::ARMING_ACTION_DISARM,
vehicle_command_s::ARM_DISARM_ARMING_ORIGIN_SWITCH); vehicle_command_s::ARMING_ORIGIN_SWITCH);
} }
} }
} }

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