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AP_Location: use enum class for AltFrame enumeration

master
Peter Barker 6 years ago committed by Andrew Tridgell
parent
61a04bd898
commit
22c0175d7f
2 changed files with 35 additions and 35 deletions
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  1. 50
      libraries/AP_Common/Location.cpp
  2. 20
      libraries/AP_Common/Location.h

50
libraries/AP_Common/Location.cpp
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@ -28,7 +28,7 @@ void Location::zero(void) @@ -28,7 +28,7 @@ void Location::zero(void)
memset(this, 0, sizeof(*this));
}
Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_FRAME frame)
Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFrame frame)
{
zero();
lat = latitude;
@ -39,7 +39,7 @@ Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_F @@ -39,7 +39,7 @@ Location::Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_F
Location::Location(const Vector3f &ekf_offset_neu)
{
// store alt and alt frame
set_alt_cm(ekf_offset_neu.z, ALT_FRAME_ABOVE_ORIGIN);
set_alt_cm(ekf_offset_neu.z, AltFrame::ABOVE_ORIGIN);
// calculate lat, lon
Location ekf_origin;
@ -50,23 +50,23 @@ Location::Location(const Vector3f &ekf_offset_neu) @@ -50,23 +50,23 @@ Location::Location(const Vector3f &ekf_offset_neu)
}
}
void Location::set_alt_cm(int32_t alt_cm, ALT_FRAME frame)
void Location::set_alt_cm(int32_t alt_cm, AltFrame frame)
{
alt = alt_cm;
relative_alt = false;
terrain_alt = false;
origin_alt = false;
switch (frame) {
case ALT_FRAME_ABSOLUTE:
case AltFrame::ABSOLUTE:
// do nothing
break;
case ALT_FRAME_ABOVE_HOME:
case AltFrame::ABOVE_HOME:
relative_alt = true;
break;
case ALT_FRAME_ABOVE_ORIGIN:
case AltFrame::ABOVE_ORIGIN:
origin_alt = true;
break;
case ALT_FRAME_ABOVE_TERRAIN:
case AltFrame::ABOVE_TERRAIN:
// we mark it as a relative altitude, as it doesn't have
// home alt added
relative_alt = true;
@ -76,7 +76,7 @@ void Location::set_alt_cm(int32_t alt_cm, ALT_FRAME frame) @@ -76,7 +76,7 @@ void Location::set_alt_cm(int32_t alt_cm, ALT_FRAME frame)
}
// converts altitude to new frame
bool Location::change_alt_frame(ALT_FRAME desired_frame)
bool Location::change_alt_frame(AltFrame desired_frame)
{
int32_t new_alt_cm;
if (!get_alt_cm(desired_frame, new_alt_cm)) {
@ -87,24 +87,24 @@ bool Location::change_alt_frame(ALT_FRAME desired_frame) @@ -87,24 +87,24 @@ bool Location::change_alt_frame(ALT_FRAME desired_frame)
}
// get altitude frame
Location::ALT_FRAME Location::get_alt_frame() const
Location::AltFrame Location::get_alt_frame() const
{
if (terrain_alt) {
return ALT_FRAME_ABOVE_TERRAIN;
return AltFrame::ABOVE_TERRAIN;
}
if (origin_alt) {
return ALT_FRAME_ABOVE_ORIGIN;
return AltFrame::ABOVE_ORIGIN;
}
if (relative_alt) {
return ALT_FRAME_ABOVE_HOME;
return AltFrame::ABOVE_HOME;
}
return ALT_FRAME_ABSOLUTE;
return AltFrame::ABSOLUTE;
}
/// get altitude in desired frame
bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const
bool Location::get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const
{
Location::ALT_FRAME frame = get_alt_frame();
Location::AltFrame frame = get_alt_frame();
// shortcut if desired and underlying frame are the same
if (desired_frame == frame) {
@ -114,7 +114,7 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const @@ -114,7 +114,7 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const
// check for terrain altitude
float alt_terr_cm = 0;
if (frame == ALT_FRAME_ABOVE_TERRAIN || desired_frame == ALT_FRAME_ABOVE_TERRAIN) {
if (frame == AltFrame::ABOVE_TERRAIN || desired_frame == AltFrame::ABOVE_TERRAIN) {
#if AP_TERRAIN_AVAILABLE
if (_terrain == nullptr || !_terrain->height_amsl(*(Location *)this, alt_terr_cm, true)) {
return false;
@ -129,16 +129,16 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const @@ -129,16 +129,16 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const
// convert alt to absolute
int32_t alt_abs = 0;
switch (frame) {
case ALT_FRAME_ABSOLUTE:
case AltFrame::ABSOLUTE:
alt_abs = alt;
break;
case ALT_FRAME_ABOVE_HOME:
case AltFrame::ABOVE_HOME:
if (!AP::ahrs().home_is_set()) {
return false;
}
alt_abs = alt + AP::ahrs().get_home().alt;
break;
case ALT_FRAME_ABOVE_ORIGIN:
case AltFrame::ABOVE_ORIGIN:
{
// fail if we cannot get ekf origin
Location ekf_origin;
@ -148,23 +148,23 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const @@ -148,23 +148,23 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const
alt_abs = alt + ekf_origin.alt;
}
break;
case ALT_FRAME_ABOVE_TERRAIN:
case AltFrame::ABOVE_TERRAIN:
alt_abs = alt + alt_terr_cm;
break;
}
// convert absolute to desired frame
switch (desired_frame) {
case ALT_FRAME_ABSOLUTE:
case AltFrame::ABSOLUTE:
ret_alt_cm = alt_abs;
return true;
case ALT_FRAME_ABOVE_HOME:
case AltFrame::ABOVE_HOME:
if (!AP::ahrs().home_is_set()) {
return false;
}
ret_alt_cm = alt_abs - AP::ahrs().get_home().alt;
return true;
case ALT_FRAME_ABOVE_ORIGIN:
case AltFrame::ABOVE_ORIGIN:
{
// fail if we cannot get ekf origin
Location ekf_origin;
@ -174,7 +174,7 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const @@ -174,7 +174,7 @@ bool Location::get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const
ret_alt_cm = alt_abs - ekf_origin.alt;
return true;
}
case ALT_FRAME_ABOVE_TERRAIN:
case AltFrame::ABOVE_TERRAIN:
ret_alt_cm = alt_abs - alt_terr_cm;
return true;
}
@ -204,7 +204,7 @@ bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const @@ -204,7 +204,7 @@ bool Location::get_vector_from_origin_NEU(Vector3f &vec_neu) const
// convert altitude
int32_t alt_above_origin_cm = 0;
if (!get_alt_cm(ALT_FRAME_ABOVE_ORIGIN, alt_above_origin_cm)) {
if (!get_alt_cm(AltFrame::ABOVE_ORIGIN, alt_above_origin_cm)) {
return false;
}
vec_neu.z = alt_above_origin_cm;

20
libraries/AP_Common/Location.h
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@ -32,35 +32,35 @@ public: @@ -32,35 +32,35 @@ public:
int32_t lng;
/// enumeration of possible altitude types
enum ALT_FRAME {
ALT_FRAME_ABSOLUTE = 0,
ALT_FRAME_ABOVE_HOME = 1,
ALT_FRAME_ABOVE_ORIGIN = 2,
ALT_FRAME_ABOVE_TERRAIN = 3
enum class AltFrame {
ABSOLUTE = 0,
ABOVE_HOME = 1,
ABOVE_ORIGIN = 2,
ABOVE_TERRAIN = 3
};
/// constructors
Location();
Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, ALT_FRAME frame);
Location(int32_t latitude, int32_t longitude, int32_t alt_in_cm, AltFrame frame);
Location(const Vector3f &ekf_offset_neu);
static void set_terrain(AP_Terrain* terrain) { _terrain = terrain; }
// set altitude
void set_alt_cm(int32_t alt_cm, ALT_FRAME frame);
void set_alt_cm(int32_t alt_cm, AltFrame frame);
// get altitude (in cm) in the desired frame
// returns false on failure to get altitude in the desired frame which
// can only happen if the original frame or desired frame is above-terrain
bool get_alt_cm(ALT_FRAME desired_frame, int32_t &ret_alt_cm) const;
bool get_alt_cm(AltFrame desired_frame, int32_t &ret_alt_cm) const;
// get altitude frame
ALT_FRAME get_alt_frame() const;
AltFrame get_alt_frame() const;
// converts altitude to new frame
// returns false on failure to convert which can only happen if
// the original frame or desired frame is above-terrain
bool change_alt_frame(ALT_FRAME desired_frame);
bool change_alt_frame(AltFrame desired_frame);
// get position as a vector from origin (x,y only or x,y,z)
// return false on failure to get the vector which can only

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