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commander: remove unused mode/main_state methods

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With the previous changes these seem no longer required.
This commit is contained in:
Julian Oes
2021-06-17 11:05:31 +02:00
committed by Matthias Grob
parent 42af44700b
commit f1b1068824
2 changed files with 0 additions and 68 deletions
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src/modules/commander/Commander.cpp
-67
View File
@@ -641,73 +641,6 @@ transition_result_t Commander::disarm(arm_disarm_reason_t calling_reason)
return arming_res;
}
transition_result_t
Commander::try_mode_change(main_state_t desired_mode)
{
transition_result_t res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
if (res == TRANSITION_DENIED) {
print_reject_mode(desired_mode);
if (desired_mode == commander_state_s::MAIN_STATE_OFFBOARD) {
/* offboard does not have a fallback */
return res;
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_MISSION) {
desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_RTL && (res == TRANSITION_DENIED)) {
desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LAND && (res == TRANSITION_DENIED)) {
desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_TAKEOFF && (res == TRANSITION_DENIED)) {
desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_FOLLOW_TARGET && (res == TRANSITION_DENIED)) {
desired_mode = commander_state_s::MAIN_STATE_AUTO_LOITER;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_AUTO_LOITER && (res == TRANSITION_DENIED)) {
/* fall back to position control */
desired_mode = commander_state_s::MAIN_STATE_POSCTL;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_POSCTL && (res == TRANSITION_DENIED)) {
/* fall back to altitude control */
desired_mode = commander_state_s::MAIN_STATE_ALTCTL;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_ALTCTL && (res == TRANSITION_DENIED)) {
/* fall back to stabilized */
desired_mode = commander_state_s::MAIN_STATE_STAB;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
if (desired_mode == commander_state_s::MAIN_STATE_STAB && (res == TRANSITION_DENIED)) {
/* fall back to manual */
desired_mode = commander_state_s::MAIN_STATE_MANUAL;
res = main_state_transition(_status, desired_mode, _status_flags, _internal_state);
}
}
return res;
}
Commander::Commander() :
ModuleParams(nullptr),
_failure_detector(this)
src/modules/commander/Commander.hpp
-1
View File
@@ -125,7 +125,6 @@ private:
transition_result_t arm(arm_disarm_reason_t calling_reason, bool run_preflight_checks = true);
transition_result_t disarm(arm_disarm_reason_t calling_reason);
transition_result_t try_mode_change(main_state_t desired_mode);
void battery_status_check();