Skip to content

Commit

Permalink
vtol/fw/mc: fix VTOL enum shadowing
Browse files Browse the repository at this point in the history 
This changes the enums used for various VTOL states to enum classes
which makes them type-safe and should avoid shadowing.

This change was motivated by a Clang warning about shadowing of the
enum const TRANSITION_TO_FW which was declared twice, once in
vtol_type.h and once in standard.h.

This change only removes the shadowing but presumably these enums could
be cleaned up and consolidated further.
  • Loading branch information
@julianoes @dagar
julianoes authored and dagar committed May 30, 2019
1 parent 4b3f68f commit 2ac8841
Show file tree
Hide file tree
Showing 10 changed files with 72 additions and 72 deletions.
2 changes: 1 addition & 1 deletion src/modules/fw_att_control/FixedwingAttitudeControl.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -440,7 +440,7 @@ FixedwingAttitudeControl::vehicle_status_poll()
int32_t vt_type = -1;

if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_is_tailsitter = (vt_type == vtol_type::TAILSITTER);
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}

} else {
Expand Down
4 changes: 2 additions & 2 deletions src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -432,7 +432,7 @@ FixedwingPositionControl::vehicle_attitude_poll()

// if the vehicle is a tailsitter we have to rotate the attitude by the pitch offset
// between multirotor and fixed wing flight
if (_parameters.vtol_type == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
if (static_cast<vtol_type>(_parameters.vtol_type) == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
Dcmf R_offset = Eulerf(0, M_PI_2_F, 0);
_R_nb = _R_nb * R_offset;
}
Expand Down Expand Up @@ -2004,7 +2004,7 @@ FixedwingPositionControl::tecs_update_pitch_throttle(float alt_sp, float airspee

// tailsitters use the multicopter frame as reference, in fixed wing
// we need to use the fixed wing frame
if (_parameters.vtol_type == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
if (static_cast<vtol_type>(_parameters.vtol_type) == vtol_type::TAILSITTER && _vehicle_status.is_vtol) {
float tmp = accel_body(0);
accel_body(0) = -accel_body(2);
accel_body(2) = tmp;
Expand Down
2 changes: 1 addition & 1 deletion src/modules/mc_att_control/mc_att_control_main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -256,7 +256,7 @@ MulticopterAttitudeControl::vehicle_status_poll()

int32_t vt_type = -1;
if (param_get(param_find("VT_TYPE"), &vt_type) == PX4_OK) {
_is_tailsitter = (vt_type == vtol_type::TAILSITTER);
_is_tailsitter = (static_cast<vtol_type>(vt_type) == vtol_type::TAILSITTER);
}

} else {
Expand Down
52 changes: 26 additions & 26 deletions src/modules/vtol_att_control/standard.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -51,7 +51,7 @@ using namespace matrix;
Standard::Standard(VtolAttitudeControl *attc) :
VtolType(attc)
{
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_vtol_schedule.transition_start = 0;
_pusher_active = false;

Expand Down Expand Up @@ -118,39 +118,39 @@ void Standard::update_vtol_state()
if (!_attc->is_fixed_wing_requested()) {

// the transition to fw mode switch is off
if (_vtol_schedule.flight_mode == MC_MODE) {
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE) {
// in mc mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;

} else if (_vtol_schedule.flight_mode == FW_MODE) {
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// transition to mc mode
if (_vtol_vehicle_status->vtol_transition_failsafe == true) {
// Failsafe event, engage mc motors immediately
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;


} else {
// Regular backtransition
_vtol_schedule.flight_mode = TRANSITION_TO_MC;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_MC;
_vtol_schedule.transition_start = hrt_absolute_time();
_reverse_output = _params_standard.reverse_output;

}

} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// failsafe back to mc mode
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
mc_weight = 1.0f;
_pusher_throttle = 0.0f;
_reverse_output = 0.0f;


} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// transition to MC mode if transition time has passed or forward velocity drops below MPC cruise speed

const Dcmf R_to_body(Quatf(_v_att->q).inversed());
Expand All @@ -160,33 +160,33 @@ void Standard::update_vtol_state()

if (time_since_trans_start > _params->back_trans_duration ||
(_local_pos->v_xy_valid && x_vel <= _params->mpc_xy_cruise)) {
_vtol_schedule.flight_mode = MC_MODE;
_vtol_schedule.flight_mode = vtol_mode::MC_MODE;
}

}

} else {
// the transition to fw mode switch is on
if (_vtol_schedule.flight_mode == MC_MODE || _vtol_schedule.flight_mode == TRANSITION_TO_MC) {
if (_vtol_schedule.flight_mode == vtol_mode::MC_MODE || _vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {
// start transition to fw mode
/* NOTE: The failsafe transition to fixed-wing was removed because it can result in an
* unsafe flying state. */
_vtol_schedule.flight_mode = TRANSITION_TO_FW;
_vtol_schedule.flight_mode = vtol_mode::TRANSITION_TO_FW;
_vtol_schedule.transition_start = hrt_absolute_time();

} else if (_vtol_schedule.flight_mode == FW_MODE) {
} else if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {
// in fw mode
_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;
mc_weight = 0.0f;

} else if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
// continue the transition to fw mode while monitoring airspeed for a final switch to fw mode
if (((_params->airspeed_disabled ||
_airspeed->indicated_airspeed_m_s >= _params->transition_airspeed) &&
time_since_trans_start > _params->front_trans_time_min) ||
can_transition_on_ground()) {

_vtol_schedule.flight_mode = FW_MODE;
_vtol_schedule.flight_mode = vtol_mode::FW_MODE;

// don't set pusher throttle here as it's being ramped up elsewhere
_trans_finished_ts = hrt_absolute_time();
Expand All @@ -202,19 +202,19 @@ void Standard::update_vtol_state()

// map specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
case vtol_mode::MC_MODE:
_vtol_mode = mode::ROTARY_WING;
break;

case FW_MODE:
case vtol_mode::FW_MODE:
_vtol_mode = mode::FIXED_WING;
break;

case TRANSITION_TO_FW:
case vtol_mode::TRANSITION_TO_FW:
_vtol_mode = mode::TRANSITION_TO_FW;
break;

case TRANSITION_TO_MC:
case vtol_mode::TRANSITION_TO_MC:
_vtol_mode = mode::TRANSITION_TO_MC;
break;
}
Expand All @@ -230,7 +230,7 @@ void Standard::update_transition_state()
// copy virtual attitude setpoint to real attitude setpoint
memcpy(_v_att_sp, _mc_virtual_att_sp, sizeof(vehicle_attitude_setpoint_s));

if (_vtol_schedule.flight_mode == TRANSITION_TO_FW) {
if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_FW) {
if (_params_standard.pusher_ramp_dt <= 0.0f) {
// just set the final target throttle value
_pusher_throttle = _params->front_trans_throttle;
Expand Down Expand Up @@ -270,7 +270,7 @@ void Standard::update_transition_state()
}
}

} else if (_vtol_schedule.flight_mode == TRANSITION_TO_MC) {
} else if (_vtol_schedule.flight_mode == vtol_mode::TRANSITION_TO_MC) {

// maintain FW_PSP_OFF
_v_att_sp->pitch_body = _params_standard.pitch_setpoint_offset;
Expand All @@ -294,8 +294,8 @@ void Standard::update_transition_state()
}

// in back transition we need to start the MC motors again
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}
}

Expand Down Expand Up @@ -416,7 +416,7 @@ void Standard::fill_actuator_outputs()
_actuators_out_1->timestamp = hrt_absolute_time();
_actuators_out_1->timestamp_sample = _actuators_fw_in->timestamp_sample;

if (_vtol_schedule.flight_mode != MC_MODE) {
if (_vtol_schedule.flight_mode != vtol_mode::MC_MODE) {
// roll
_actuators_out_1->control[actuator_controls_s::INDEX_ROLL] =
_actuators_fw_in->control[actuator_controls_s::INDEX_ROLL];
Expand Down Expand Up @@ -454,7 +454,7 @@ void Standard::fill_actuator_outputs()
}

// set the fixed wing throttle control
if (_vtol_schedule.flight_mode == FW_MODE) {
if (_vtol_schedule.flight_mode == vtol_mode::FW_MODE) {

// take the throttle value commanded by the fw controller
_actuators_out_1->control[actuator_controls_s::INDEX_THROTTLE] =
Expand Down
2 changes: 1 addition & 1 deletion src/modules/vtol_att_control/standard.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -86,7 +86,7 @@ class Standard : public VtolType
param_t reverse_delay;
} _params_handles_standard;

enum vtol_mode {
enum class vtol_mode {
MC_MODE = 0,
TRANSITION_TO_FW,
TRANSITION_TO_MC,
Expand Down
8 changes: 4 additions & 4 deletions src/modules/vtol_att_control/tailsitter.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -151,24 +151,24 @@ void Tailsitter::update_vtol_state()
// map tailsitter specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_mode = mode::ROTARY_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;

case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_mode = mode::FIXED_WING;
_vtol_vehicle_status->vtol_in_trans_mode = false;
_flag_was_in_trans_mode = false;
break;

case TRANSITION_FRONT_P1:
_vtol_mode = TRANSITION_TO_FW;
_vtol_mode = mode::TRANSITION_TO_FW;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;

case TRANSITION_BACK:
_vtol_mode = TRANSITION_TO_MC;
_vtol_mode = mode::TRANSITION_TO_MC;
_vtol_vehicle_status->vtol_in_trans_mode = true;
break;
}
Expand Down
18 changes: 9 additions & 9 deletions src/modules/vtol_att_control/tiltrotor.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -180,20 +180,20 @@ void Tiltrotor::update_vtol_state()
// map tiltrotor specific control phases to simple control modes
switch (_vtol_schedule.flight_mode) {
case MC_MODE:
_vtol_mode = ROTARY_WING;
_vtol_mode = mode::ROTARY_WING;
break;

case FW_MODE:
_vtol_mode = FIXED_WING;
_vtol_mode = mode::FIXED_WING;
break;

case TRANSITION_FRONT_P1:
case TRANSITION_FRONT_P2:
_vtol_mode = TRANSITION_TO_FW;
_vtol_mode = mode::TRANSITION_TO_FW;
break;

case TRANSITION_BACK:
_vtol_mode = TRANSITION_TO_MC;
_vtol_mode = mode::TRANSITION_TO_MC;
break;
}
}
Expand Down Expand Up @@ -227,8 +227,8 @@ void Tiltrotor::update_transition_state()

if (_vtol_schedule.flight_mode == TRANSITION_FRONT_P1) {
// for the first part of the transition the rear rotors are enabled
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}

// tilt rotors forward up to certain angle
Expand Down Expand Up @@ -277,14 +277,14 @@ void Tiltrotor::update_transition_state()
(PWM_DEFAULT_MAX - PWM_DEFAULT_MIN) + PWM_DEFAULT_MIN;


_motor_state = set_motor_state(_motor_state, VALUE, rear_value);
_motor_state = set_motor_state(_motor_state, motor_state::VALUE, rear_value);


_thrust_transition = -_mc_virtual_att_sp->thrust_body[2];

} else if (_vtol_schedule.flight_mode == TRANSITION_BACK) {
if (_motor_state != ENABLED) {
_motor_state = set_motor_state(_motor_state, ENABLED);
if (_motor_state != motor_state::ENABLED) {
_motor_state = set_motor_state(_motor_state, motor_state::ENABLED);
}


Expand Down
30 changes: 15 additions & 15 deletions src/modules/vtol_att_control/vtol_att_control_main.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -94,13 +94,13 @@ VtolAttitudeControl::VtolAttitudeControl()
/* fetch initial parameter values */
parameters_update();

if (_params.vtol_type == vtol_type::TAILSITTER) {
if (static_cast<vtol_type>(_params.vtol_type) == vtol_type::TAILSITTER) {
_vtol_type = new Tailsitter(this);

} else if (_params.vtol_type == vtol_type::TILTROTOR) {
} else if (static_cast<vtol_type>(_params.vtol_type) == vtol_type::TILTROTOR) {
_vtol_type = new Tiltrotor(this);

} else if (_params.vtol_type == vtol_type::STANDARD) {
} else if (static_cast<vtol_type>(_params.vtol_type) == vtol_type::STANDARD) {
_vtol_type = new Standard(this);

} else {
Expand Down Expand Up @@ -499,7 +499,7 @@ VtolAttitudeControl::parameters_update()
// normally the parameter fw_motors_off can be used to specify this, however, since historically standard vtol code
// did not use the interface of the VtolType class to disable motors we will have users flying around with a wrong
// parameter value. Therefore, explicitly set it here such that all motors will be disabled as expected.
if (_params.vtol_type == vtol_type::STANDARD) {
if (static_cast<vtol_type>(_params.vtol_type) == vtol_type::STANDARD) {
_params.fw_motors_off = 12345678;
}

Expand Down Expand Up @@ -571,13 +571,13 @@ void VtolAttitudeControl::task_main()

// run vtol_att on MC actuator publications, unless in full FW mode
switch (_vtol_type->get_mode()) {
case TRANSITION_TO_FW:
case TRANSITION_TO_MC:
case ROTARY_WING:
case mode::TRANSITION_TO_FW:
case mode::TRANSITION_TO_MC:
case mode::ROTARY_WING:
fds[0].fd = _actuator_inputs_mc;
break;

case FIXED_WING:
case mode::FIXED_WING:
fds[0].fd = _actuator_inputs_fw;
break;
}
Expand Down Expand Up @@ -616,13 +616,13 @@ void VtolAttitudeControl::task_main()

// reset transition command if not auto control
if (_v_control_mode.flag_control_manual_enabled) {
if (_vtol_type->get_mode() == ROTARY_WING) {
if (_vtol_type->get_mode() == mode::ROTARY_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC;

} else if (_vtol_type->get_mode() == FIXED_WING) {
} else if (_vtol_type->get_mode() == mode::FIXED_WING) {
_transition_command = vtol_vehicle_status_s::VEHICLE_VTOL_STATE_FW;

} else if (_vtol_type->get_mode() == TRANSITION_TO_MC) {
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC) {
/* We want to make sure that a mode change (manual>auto) during the back transition
* doesn't result in an unsafe state. This prevents the instant fall back to
* fixed-wing on the switch from manual to auto */
Expand All @@ -631,7 +631,7 @@ void VtolAttitudeControl::task_main()
}

// check in which mode we are in and call mode specific functions
if (_vtol_type->get_mode() == ROTARY_WING) {
if (_vtol_type->get_mode() == mode::ROTARY_WING) {

mc_virtual_att_sp_poll();

Expand All @@ -643,7 +643,7 @@ void VtolAttitudeControl::task_main()
// got data from mc attitude controller
_vtol_type->update_mc_state();

} else if (_vtol_type->get_mode() == FIXED_WING) {
} else if (_vtol_type->get_mode() == mode::FIXED_WING) {

fw_virtual_att_sp_poll();

Expand All @@ -654,15 +654,15 @@ void VtolAttitudeControl::task_main()

_vtol_type->update_fw_state();

} else if (_vtol_type->get_mode() == TRANSITION_TO_MC || _vtol_type->get_mode() == TRANSITION_TO_FW) {
} else if (_vtol_type->get_mode() == mode::TRANSITION_TO_MC || _vtol_type->get_mode() == mode::TRANSITION_TO_FW) {

mc_virtual_att_sp_poll();
fw_virtual_att_sp_poll();

// vehicle is doing a transition
_vtol_vehicle_status.vtol_in_trans_mode = true;
_vtol_vehicle_status.vtol_in_rw_mode = true; //making mc attitude controller work during transition
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == TRANSITION_TO_FW);
_vtol_vehicle_status.in_transition_to_fw = (_vtol_type->get_mode() == mode::TRANSITION_TO_FW);

_vtol_type->update_transition_state();
}
Expand Down
Loading

0 comments on commit 2ac8841

Please sign in to comment.