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Copter: use enum class for AltFrame enumeration

master
Peter Barker 6 years ago committed by Andrew Tridgell
parent
6e67481355
commit
366051c39f
7 changed files with 26 additions and 26 deletions
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  1. 2
      ArduCopter/GCS_Mavlink.cpp
  2. 8
      ArduCopter/inertia.cpp
  3. 2
      ArduCopter/mode.cpp
  4. 16
      ArduCopter/mode_auto.cpp
  5. 2
      ArduCopter/mode_guided.cpp
  6. 20
      ArduCopter/mode_rtl.cpp
  7. 2
      ArduCopter/precision_landing.cpp

2
ArduCopter/GCS_Mavlink.cpp
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@ -1082,7 +1082,7 @@ void GCS_MAVLINK_Copter::handleMessage(mavlink_message_t* msg)
if (!check_latlng(packet.lat_int, packet.lon_int)) { if (!check_latlng(packet.lat_int, packet.lon_int)) {
break; break;
} }
Location::ALT_FRAME frame; Location::AltFrame frame;
if (!mavlink_coordinate_frame_to_location_alt_frame(packet.coordinate_frame, frame)) { if (!mavlink_coordinate_frame_to_location_alt_frame(packet.coordinate_frame, frame)) {
// unknown coordinate frame // unknown coordinate frame
break; break;

8
ArduCopter/inertia.cpp
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@ -15,15 +15,15 @@ void Copter::read_inertia()
return; return;
} }
Location::ALT_FRAME frame; Location::AltFrame frame;
if (ahrs.home_is_set()) { if (ahrs.home_is_set()) {
frame = Location::ALT_FRAME_ABOVE_HOME; frame = Location::AltFrame::ABOVE_HOME;
} else { } else {
// without home use alt above the EKF origin // without home use alt above the EKF origin
frame = Location::ALT_FRAME_ABOVE_ORIGIN; frame = Location::AltFrame::ABOVE_ORIGIN;
} }
current_loc.set_alt_cm(inertial_nav.get_altitude(), frame); current_loc.set_alt_cm(inertial_nav.get_altitude(), frame);
current_loc.change_alt_frame(Location::ALT_FRAME_ABOVE_HOME); current_loc.change_alt_frame(Location::AltFrame::ABOVE_HOME);
// set flags and get velocity // set flags and get velocity
climb_rate = inertial_nav.get_velocity_z(); climb_rate = inertial_nav.get_velocity_z();

2
ArduCopter/mode.cpp
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@ -408,7 +408,7 @@ int32_t Copter::Mode::get_alt_above_ground_cm(void)
alt_above_ground = copter.rangefinder_state.alt_cm_filt.get(); alt_above_ground = copter.rangefinder_state.alt_cm_filt.get();
} else { } else {
bool navigating = pos_control->is_active_xy(); bool navigating = pos_control->is_active_xy();
if (!navigating || !copter.current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, alt_above_ground)) { if (!navigating || !copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, alt_above_ground)) {
alt_above_ground = copter.current_loc.alt; alt_above_ground = copter.current_loc.alt;
} }
} }

16
ArduCopter/mode_auto.cpp
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@ -149,7 +149,7 @@ void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
// get altitude target // get altitude target
int32_t alt_target; int32_t alt_target;
if (!dest.get_alt_cm(Location::ALT_FRAME_ABOVE_HOME, alt_target)) { if (!dest.get_alt_cm(Location::AltFrame::ABOVE_HOME, alt_target)) {
// this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data // this failure could only happen if take-off alt was specified as an alt-above terrain and we have no terrain data
copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
// fall back to altitude above current altitude // fall back to altitude above current altitude
@ -158,11 +158,11 @@ void Copter::ModeAuto::takeoff_start(const Location& dest_loc)
// sanity check target // sanity check target
if (alt_target < copter.current_loc.alt) { if (alt_target < copter.current_loc.alt) {
dest.set_alt_cm(copter.current_loc.alt, Location::ALT_FRAME_ABOVE_HOME); dest.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
} }
// Note: if taking off from below home this could cause a climb to an unexpectedly high altitude // Note: if taking off from below home this could cause a climb to an unexpectedly high altitude
if (alt_target < 100) { if (alt_target < 100) {
dest.set_alt_cm(100, Location::ALT_FRAME_ABOVE_HOME); dest.set_alt_cm(100, Location::AltFrame::ABOVE_HOME);
} }
// set waypoint controller target // set waypoint controller target
@ -1052,14 +1052,14 @@ Location Copter::ModeAuto::terrain_adjusted_location(const AP_Mission::Mission_C
// decide if we will use terrain following // decide if we will use terrain following
int32_t curr_terr_alt_cm, target_terr_alt_cm; int32_t curr_terr_alt_cm, target_terr_alt_cm;
if (copter.current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, curr_terr_alt_cm) && if (copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_terr_alt_cm) &&
target_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, target_terr_alt_cm)) { target_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, target_terr_alt_cm)) {
curr_terr_alt_cm = MAX(curr_terr_alt_cm,200); curr_terr_alt_cm = MAX(curr_terr_alt_cm,200);
// if using terrain, set target altitude to current altitude above terrain // if using terrain, set target altitude to current altitude above terrain
target_loc.set_alt_cm(curr_terr_alt_cm, Location::ALT_FRAME_ABOVE_TERRAIN); target_loc.set_alt_cm(curr_terr_alt_cm, Location::AltFrame::ABOVE_TERRAIN);
} else { } else {
// set target altitude to current altitude above home // set target altitude to current altitude above home
target_loc.set_alt_cm(copter.current_loc.alt, Location::ALT_FRAME_ABOVE_HOME); target_loc.set_alt_cm(copter.current_loc.alt, Location::AltFrame::ABOVE_HOME);
} }
return target_loc; return target_loc;
} }
@ -1241,7 +1241,7 @@ void Copter::ModeAuto::do_loiter_to_alt(const AP_Mission::Mission_Command& cmd)
target_loc.lng = copter.current_loc.lng; target_loc.lng = copter.current_loc.lng;
} }
if (!target_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_HOME, loiter_to_alt.alt)) { if (!target_loc.get_alt_cm(Location::AltFrame::ABOVE_HOME, loiter_to_alt.alt)) {
loiter_to_alt.reached_destination_xy = true; loiter_to_alt.reached_destination_xy = true;
loiter_to_alt.reached_alt = true; loiter_to_alt.reached_alt = true;
gcs().send_text(MAV_SEVERITY_INFO, "bad do_loiter_to_alt"); gcs().send_text(MAV_SEVERITY_INFO, "bad do_loiter_to_alt");

2
ArduCopter/mode_guided.cpp
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@ -53,7 +53,7 @@ bool Copter::ModeGuided::do_user_takeoff_start(float final_alt_above_home)
// initialise wpnav destination // initialise wpnav destination
Location target_loc = copter.current_loc; Location target_loc = copter.current_loc;
target_loc.set_alt_cm(final_alt_above_home, Location::ALT_FRAME_ABOVE_HOME); target_loc.set_alt_cm(final_alt_above_home, Location::AltFrame::ABOVE_HOME);
if (!wp_nav->set_wp_destination(target_loc)) { if (!wp_nav->set_wp_destination(target_loc)) {
// failure to set destination can only be because of missing terrain data // failure to set destination can only be because of missing terrain data

20
ArduCopter/mode_rtl.cpp
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@ -393,7 +393,7 @@ void Copter::ModeRTL::build_path(bool terrain_following_allowed)
pos_control->get_stopping_point_xy(stopping_point); pos_control->get_stopping_point_xy(stopping_point);
pos_control->get_stopping_point_z(stopping_point); pos_control->get_stopping_point_z(stopping_point);
rtl_path.origin_point = Location(stopping_point); rtl_path.origin_point = Location(stopping_point);
rtl_path.origin_point.change_alt_frame(Location::ALT_FRAME_ABOVE_HOME); rtl_path.origin_point.change_alt_frame(Location::AltFrame::ABOVE_HOME);
// compute return target // compute return target
compute_return_target(terrain_following_allowed); compute_return_target(terrain_following_allowed);
@ -402,7 +402,7 @@ void Copter::ModeRTL::build_path(bool terrain_following_allowed)
rtl_path.climb_target = Location(rtl_path.origin_point.lat, rtl_path.origin_point.lng, rtl_path.return_target.alt, rtl_path.return_target.get_alt_frame()); rtl_path.climb_target = Location(rtl_path.origin_point.lat, rtl_path.origin_point.lng, rtl_path.return_target.alt, rtl_path.return_target.get_alt_frame());
// descent target is below return target at rtl_alt_final // descent target is below return target at rtl_alt_final
rtl_path.descent_target = Location(rtl_path.return_target.lat, rtl_path.return_target.lng, g.rtl_alt_final, Location::ALT_FRAME_ABOVE_HOME); rtl_path.descent_target = Location(rtl_path.return_target.lat, rtl_path.return_target.lng, g.rtl_alt_final, Location::AltFrame::ABOVE_HOME);
// set land flag // set land flag
rtl_path.land = g.rtl_alt_final <= 0; rtl_path.land = g.rtl_alt_final <= 0;
@ -428,19 +428,19 @@ void Copter::ModeRTL::compute_return_target(bool terrain_following_allowed)
if (rtl_path.terrain_used) { if (rtl_path.terrain_used) {
// attempt to retrieve terrain alt for current location, stopping point and origin // attempt to retrieve terrain alt for current location, stopping point and origin
int32_t origin_terr_alt, return_target_terr_alt; int32_t origin_terr_alt, return_target_terr_alt;
if (!rtl_path.origin_point.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, origin_terr_alt) || if (!rtl_path.origin_point.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, origin_terr_alt) ||
!rtl_path.return_target.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, return_target_terr_alt) || !rtl_path.return_target.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, return_target_terr_alt) ||
!copter.current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, curr_alt)) { !copter.current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, curr_alt)) {
rtl_path.terrain_used = false; rtl_path.terrain_used = false;
copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA); copter.Log_Write_Error(ERROR_SUBSYSTEM_TERRAIN, ERROR_CODE_MISSING_TERRAIN_DATA);
} }
} }
// convert return-target alt (which is an absolute alt) to alt-above-home or alt-above-terrain // convert return-target alt (which is an absolute alt) to alt-above-home or alt-above-terrain
if (!rtl_path.terrain_used || !rtl_path.return_target.change_alt_frame(Location::ALT_FRAME_ABOVE_TERRAIN)) { if (!rtl_path.terrain_used || !rtl_path.return_target.change_alt_frame(Location::AltFrame::ABOVE_TERRAIN)) {
if (!rtl_path.return_target.change_alt_frame(Location::ALT_FRAME_ABOVE_HOME)) { if (!rtl_path.return_target.change_alt_frame(Location::AltFrame::ABOVE_HOME)) {
// this should never happen but just in case // this should never happen but just in case
rtl_path.return_target.set_alt_cm(0, Location::ALT_FRAME_ABOVE_HOME); rtl_path.return_target.set_alt_cm(0, Location::AltFrame::ABOVE_HOME);
} }
rtl_path.terrain_used = false; rtl_path.terrain_used = false;
} }
@ -462,7 +462,7 @@ void Copter::ModeRTL::compute_return_target(bool terrain_following_allowed)
} }
// set returned target alt to new target_alt // set returned target alt to new target_alt
rtl_path.return_target.set_alt_cm(target_alt, rtl_path.terrain_used ? Location::ALT_FRAME_ABOVE_TERRAIN : Location::ALT_FRAME_ABOVE_HOME); rtl_path.return_target.set_alt_cm(target_alt, rtl_path.terrain_used ? Location::AltFrame::ABOVE_TERRAIN : Location::AltFrame::ABOVE_HOME);
#if AC_FENCE == ENABLED #if AC_FENCE == ENABLED
// ensure not above fence altitude if alt fence is enabled // ensure not above fence altitude if alt fence is enabled
@ -472,7 +472,7 @@ void Copter::ModeRTL::compute_return_target(bool terrain_following_allowed)
// to apply the fence alt limit independently on the origin_point and return_target // to apply the fence alt limit independently on the origin_point and return_target
if ((copter.fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) { if ((copter.fence.get_enabled_fences() & AC_FENCE_TYPE_ALT_MAX) != 0) {
// get return target as alt-above-home so it can be compared to fence's alt // get return target as alt-above-home so it can be compared to fence's alt
if (rtl_path.return_target.get_alt_cm(Location::ALT_FRAME_ABOVE_HOME, target_alt)) { if (rtl_path.return_target.get_alt_cm(Location::AltFrame::ABOVE_HOME, target_alt)) {
float fence_alt = copter.fence.get_safe_alt_max()*100.0f; float fence_alt = copter.fence.get_safe_alt_max()*100.0f;
if (target_alt > fence_alt) { if (target_alt > fence_alt) {
// reduce target alt to the fence alt // reduce target alt to the fence alt

2
ArduCopter/precision_landing.cpp
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@ -19,7 +19,7 @@ void Copter::update_precland()
if (rangefinder_alt_ok()) { if (rangefinder_alt_ok()) {
height_above_ground_cm = rangefinder_state.alt_cm; height_above_ground_cm = rangefinder_state.alt_cm;
} else if (terrain_use()) { } else if (terrain_use()) {
if (!current_loc.get_alt_cm(Location::ALT_FRAME_ABOVE_TERRAIN, height_above_ground_cm)) { if (!current_loc.get_alt_cm(Location::AltFrame::ABOVE_TERRAIN, height_above_ground_cm)) {
height_above_ground_cm = current_loc.alt; height_above_ground_cm = current_loc.alt;
} }
} }

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