Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2025-12-06 17:26:32 +08:00
Code Issues Actions 31 Packages Projects Releases Wiki Activity

DistanceSensorModeChangeRequest: renaming of variable

Browse Source
This commit is contained in:
Konrad
2024-09-11 18:10:52 +02:00
committed by KonradRudin
parent aab2390e51
commit 82a7d0410c
3 changed files with 16 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
msg/DistanceSensorModeChangeRequest.msg
View File

@@ -1,5 +1,5 @@
uint64 timestamp # time since system start (microseconds)
uint8 req_mode # requested mode of operation
uint8 MODE_DISABLED = 0
uint8 MODE_ENABLED = 1
uint8 request_on_off # request to disable/enable the distance sensor
uint8 REQUEST_OFF = 0
uint8 REQUEST_ON = 1

8
src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp
View File

@@ -145,7 +145,7 @@ private:
uORB::Subscription _vehicle_status_sub{ORB_ID(vehicle_status)};
typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN};
uORB::Subscription _dist_sense_mode_change_sub{ORB_ID(distance_sensor_mode_change_request)};
typeof(px4::msg::DistanceSensorModeChangeRequest::req_mode) _req_mode{px4::msg::DistanceSensorModeChangeRequest::MODE_DISABLED};
typeof(px4::msg::DistanceSensorModeChangeRequest::request_on_off) _req_mode{px4::msg::DistanceSensorModeChangeRequest::REQUEST_OFF};
bool _restriction{false};
bool _auto_restriction{false};
bool _prev_restriction{false};
@@ -419,10 +419,10 @@ int LightwareLaser::updateRestriction()
distance_sensor_mode_change_request_s dist_sense_mode_change;
if (_dist_sense_mode_change_sub.copy(&dist_sense_mode_change)) {
_req_mode = dist_sense_mode_change.req_mode;
_req_mode = dist_sense_mode_change.request_on_off;
} else {
_req_mode = distance_sensor_mode_change_request_s::MODE_DISABLED;
_req_mode = distance_sensor_mode_change_request_s::REQUEST_OFF;
}
}
@@ -466,7 +466,7 @@ int LightwareLaser::updateRestriction()
break;
case 2:
_restriction = _auto_restriction && _req_mode != distance_sensor_mode_change_request_s::MODE_ENABLED;
_restriction = _auto_restriction && _req_mode != distance_sensor_mode_change_request_s::REQUEST_ON;
break;
}

18
src/modules/navigator/navigator_main.cpp
View File

@@ -112,7 +112,7 @@ Navigator::Navigator() :
_distance_sensor_mode_change_request_pub.advertise();
_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
_distance_sensor_mode_change_request_pub.get().req_mode = distance_sensor_mode_change_request_s::MODE_DISABLED;
_distance_sensor_mode_change_request_pub.get().request_on_off = distance_sensor_mode_change_request_s::REQUEST_OFF;
_distance_sensor_mode_change_request_pub.update();
// Update the timeout used in mission_block (which can't hold it's own parameters)
@@ -1459,21 +1459,21 @@ void Navigator::publish_distance_sensor_mode_request()
// Send request to enable distance sensor when in the landing phase of a mission or RTL
if (((_navigation_mode == &_rtl) && _rtl.isLanding()) || ((_navigation_mode == &_mission) && _mission.isLanding())) {
if (_distance_sensor_mode_change_request_pub.get().req_mode !=
distance_sensor_mode_change_request_s::MODE_ENABLED) {
if (_distance_sensor_mode_change_request_pub.get().request_on_off !=
distance_sensor_mode_change_request_s::REQUEST_ON) {
_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
_distance_sensor_mode_change_request_pub.get().req_mode =
distance_sensor_mode_change_request_s::MODE_ENABLED;
_distance_sensor_mode_change_request_pub.get().request_on_off =
distance_sensor_mode_change_request_s::REQUEST_ON;
_distance_sensor_mode_change_request_pub.update();
}
} else if (_distance_sensor_mode_change_request_pub.get().req_mode !=
distance_sensor_mode_change_request_s::MODE_DISABLED) {
} else if (_distance_sensor_mode_change_request_pub.get().request_on_off !=
distance_sensor_mode_change_request_s::REQUEST_OFF) {
_distance_sensor_mode_change_request_pub.get().timestamp = hrt_absolute_time();
_distance_sensor_mode_change_request_pub.get().req_mode =
distance_sensor_mode_change_request_s::MODE_DISABLED;
_distance_sensor_mode_change_request_pub.get().request_on_off =
distance_sensor_mode_change_request_s::REQUEST_OFF;
_distance_sensor_mode_change_request_pub.update();
}
}