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Fix VTOL enum shadowing #12108

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May 30, 2019
Merged

Fix VTOL enum shadowing #12108

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2 changes: 1 addition & 1 deletion src/modules/fw_att_control/FixedwingAttitudeControl.cpp
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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
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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
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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
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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
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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
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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
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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
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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
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