Plane: move statics into new struct

removed default case statements

ArduPlane/ArduPlane.cpp

@@ -903,7 +903,7 @@ void Plane::update_is_flying_5Hz(void)
                 // we are definitely not flying, or at least for not much longer!
                 if (throttle_suppressed) {
                     is_flying_bool = false;
-                    auto_state.is_crashed = false;
+                    crash_state.is_crashed = false;
                 }
                 break;
 
@@ -919,7 +919,6 @@ void Plane::update_is_flying_5Hz(void)
                 break;
 
             case AP_SpdHgtControl::FLIGHT_LAND_FINAL:
-            default:
                 break;
             } // switch
         }
@@ -985,13 +984,10 @@ bool Plane::is_flying(void)
  */
 void Plane::crash_detection_update(void)
 {
-    static uint32_t crash_timer_ms = 0;
-    static bool checkHardLanding = false;
-
     if (control_mode != AUTO)
     {
         // crash detection is only available in AUTO mode
-        crash_timer_ms = 0;
+        crash_state.debounce_timer_ms = 0;
         return;
     }
 
@@ -1039,7 +1035,7 @@ void Plane::crash_detection_update(void)
             // but go ahead and notify GCS and perform any additional post-crash actions.
             // Declare a crash if we are oriented more that 60deg in pitch or roll
             if (been_auto_flying &&
-                !checkHardLanding && // only check once
+                !crash_state.checkHardLanding && // only check once
                 (fabsf(ahrs.roll_sensor) > 6000 || fabsf(ahrs.pitch_sensor) > 6000)) {
                 crashed = true;
 
@@ -1050,29 +1046,26 @@ void Plane::crash_detection_update(void)
                 // trigger hard landing event right away, or never again. This inhibits a false hard landing
                 // event when, for example, a minute after a good landing you pick the plane up and
                 // this logic is still running and detects the plane is on its side as you carry it.
-                crash_timer_ms = now_ms + 2500;
+                crash_state.debounce_timer_ms = now_ms + 2500;
             }
-            checkHardLanding = true;
-            break;
-
-        default:
+            crash_state.checkHardLanding = true;
             break;
         } // switch
     } else {
-        checkHardLanding = false;
+        crash_state.checkHardLanding = false;
     }
 
     if (!crashed) {
         // reset timer
-        crash_timer_ms = 0;
-        auto_state.is_crashed = false;
+        crash_state.debounce_timer_ms = 0;
+        crash_state.is_crashed = false;
 
-    } else if (crash_timer_ms == 0) {
+    } else if (crash_state.debounce_timer_ms == 0) {
         // start timer
-        crash_timer_ms = now_ms;
+        crash_state.debounce_timer_ms = now_ms;
 
-    } else if ((now_ms - crash_timer_ms >= 2500) && !auto_state.is_crashed) {
-        auto_state.is_crashed = true;
+    } else if ((now_ms - crash_state.debounce_timer_ms >= 2500) && !crash_state.is_crashed) {
+        crash_state.is_crashed = true;
 
         if (g.crash_detection_enable == CRASH_DETECT_ACTION_BITMASK_DISABLED) {
             if (crashed_near_land_waypoint) {

ArduPlane/GCS_Mavlink.cpp

@@ -13,7 +13,7 @@ void Plane::send_heartbeat(mavlink_channel_t chan)
     
     if (failsafe.state != FAILSAFE_NONE) {
         system_status = MAV_STATE_CRITICAL;
-    } else if (plane.auto_state.is_crashed) {
+    } else if (plane.crash_state.is_crashed) {
         system_status = MAV_STATE_EMERGENCY;
     } else if (is_flying()) {
         system_status = MAV_STATE_ACTIVE;

ArduPlane/Log.cpp

@@ -331,7 +331,7 @@ void Plane::Log_Write_Status()
         ,is_flying_probability : isFlyingProbability
         ,armed       : hal.util->get_soft_armed()
         ,safety      : hal.util->safety_switch_state()
-        ,is_crashed  : auto_state.is_crashed
+        ,is_crashed  : crash_state.is_crashed
         ,is_still    : plane.ins.is_still()
         };
 

ArduPlane/Plane.h

@@ -433,9 +433,6 @@ private:
         // movement until altitude is reached
         bool idle_mode:1;
 
-        // crash detection
-        bool is_crashed:1;
-
         // used to 'wiggle' servos in idle mode to prevent them freezing
         // at high altitudes
         uint8_t idle_wiggle_stage;
@@ -479,6 +476,18 @@ private:
         uint32_t started_flying_in_auto_ms;
     } auto_state;
 
+    struct {
+        // on hard landings, only check once after directly a landing so you
+        // don't trigger a crash when picking up the aircraft
+        bool checkHardLanding:1;
+
+        // crash detection. True when we are crashed
+        bool is_crashed:1;
+
+        // debounce timer
+        uint32_t debounce_timer_ms;
+    } crash_state;
+
     // true if we are in an auto-throttle mode, which means
     // we need to run the speed/height controller
     bool auto_throttle_mode;
@@ -492,6 +501,9 @@ private:
     // 1 where 1 is 100% sure we're in flight
     float isFlyingProbability;
 
+    // previous value of is_flying()
+    bool previous_is_flying;
+
     // Navigation control variables
     // The instantaneous desired bank angle.  Hundredths of a degree
     int32_t nav_roll_cd;

ArduPlane/commands_logic.cpp

@@ -23,7 +23,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
         auto_state.takeoff_complete = true;
 
         // if we are still executing mission commands then we must be traveling around still
-        auto_state.is_crashed = false;
+        crash_state.is_crashed = false;
 
         // if a go around had been commanded, clear it now.
         auto_state.commanded_go_around = false;
@@ -42,7 +42,7 @@ bool Plane::start_command(const AP_Mission::Mission_Command& cmd)
     switch(cmd.id) {
 
     case MAV_CMD_NAV_TAKEOFF:
-        auto_state.is_crashed = false;
+        crash_state.is_crashed = false;
         do_takeoff(cmd);
         break;
 

ArduPlane/system.cpp

@@ -348,7 +348,7 @@ void Plane::set_mode(enum FlightMode mode)
     steer_state.locked_course_err = 0;
 
     // reset crash detection
-    auto_state.is_crashed = false;
+    crash_state.is_crashed = false;
 
     // set mode
     previous_mode = control_mode;