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Rename from "public state" to "persistent ID"

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- NAV_PUBLIC_STATE_* -> NAV_PERSISTENT_ID_*
- .publicState -> .persistentId
- .navPublicState -> .navPersistentId
This commit is contained in:
Alberto García Hierro 2018-05-30 21:15:39 +01:00
parent 48a05476a8
commit db31090a1f
2 changed files with 59 additions and 59 deletions
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54
src/main/navigation/navigation.c
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@ -212,7 +212,7 @@ static navigationFSMEvent_t navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS(navi
static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** Idle state ******************************************************/
[NAV_STATE_IDLE] = {
.publicState = NAV_PUBLIC_STATE_IDLE,
.persistentId = NAV_PERSISTENT_ID_IDLE,
.onEntry = navOnEnteringState_NAV_STATE_IDLE,
.timeoutMs = 0,
.stateFlags = 0,
@ -231,7 +231,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** ALTHOLD mode ***************************************************/
[NAV_STATE_ALTHOLD_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_ALTHOLD_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_ALTHOLD_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT,
@ -246,7 +246,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_ALTHOLD_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_ALTHOLD_IN_PROGRESS,
.persistentId = NAV_PERSISTENT_ID_ALTHOLD_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_ALTHOLD_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_REQUIRE_ANGLE_FW | NAV_REQUIRE_THRTILT | NAV_RC_ALT,
@ -265,7 +265,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** POSHOLD_3D mode ************************************************/
[NAV_STATE_POSHOLD_3D_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_POSHOLD_3D_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT,
@ -280,7 +280,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_POSHOLD_3D_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_POSHOLD_3D_IN_PROGRESS,
.persistentId = NAV_PERSISTENT_ID_POSHOLD_3D_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_POSHOLD_3D_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_THRTILT | NAV_RC_ALT | NAV_RC_POS | NAV_RC_YAW,
@ -299,7 +299,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** RTH_3D mode ************************************************/
[NAV_STATE_RTH_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_RTH_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_RTH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_RTH_INITIALIZE,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -316,7 +316,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_CLIMB_TO_SAFE_ALT] = {
.publicState = NAV_PUBLIC_STATE_RTH_CLIMB_TO_SAFE_ALT,
.persistentId = NAV_PERSISTENT_ID_RTH_CLIMB_TO_SAFE_ALT,
.onEntry = navOnEnteringState_NAV_STATE_RTH_CLIMB_TO_SAFE_ALT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW, // allow pos adjustment while climbind to safe alt
@ -333,7 +333,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_HEAD_HOME] = {
.publicState = NAV_PUBLIC_STATE_RTH_HEAD_HOME,
.persistentId = NAV_PERSISTENT_ID_RTH_HEAD_HOME,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HEAD_HOME,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -351,7 +351,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING] = {
.publicState = NAV_PUBLIC_STATE_RTH_HOVER_PRIOR_TO_LANDING,
.persistentId = NAV_PERSISTENT_ID_RTH_HOVER_PRIOR_TO_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_HOVER_PRIOR_TO_LANDING,
.timeoutMs = 500,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -369,7 +369,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_LANDING] = {
.publicState = NAV_PUBLIC_STATE_RTH_LANDING,
.persistentId = NAV_PERSISTENT_ID_RTH_LANDING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_LANDING,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH | NAV_RC_POS | NAV_RC_YAW,
@ -387,7 +387,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_FINISHING] = {
.publicState = NAV_PUBLIC_STATE_RTH_FINISHING,
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHING,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHING,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -401,7 +401,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_RTH_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_RTH_FINISHED,
.persistentId = NAV_PERSISTENT_ID_RTH_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_RTH_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_RTH,
@ -419,7 +419,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** WAYPOINT mode ************************************************/
[NAV_STATE_WAYPOINT_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -435,7 +435,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_PRE_ACTION] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_PRE_ACTION,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_PRE_ACTION,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_PRE_ACTION,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -451,7 +451,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_IN_PROGRESS,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -470,7 +470,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_REACHED] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_REACHED,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_REACHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_REACHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -491,7 +491,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_RTH_LAND] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_RTH_LAND,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_RTH_LAND,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_RTH_LAND,
.timeoutMs = 10,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_CTL_LAND | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -510,7 +510,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_NEXT] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_NEXT,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_NEXT,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_NEXT,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -524,7 +524,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_WAYPOINT_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_WAYPOINT_FINISHED,
.persistentId = NAV_PERSISTENT_ID_WAYPOINT_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_WAYPOINT_FINISHED,
.timeoutMs = 0,
.stateFlags = NAV_CTL_ALT | NAV_CTL_POS | NAV_CTL_YAW | NAV_REQUIRE_ANGLE | NAV_REQUIRE_MAGHOLD | NAV_REQUIRE_THRTILT | NAV_AUTO_WP,
@ -542,7 +542,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
/** EMERGENCY LANDING ************************************************/
[NAV_STATE_EMERGENCY_LANDING_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -558,7 +558,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -574,7 +574,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_EMERGENCY_LANDING_FINISHED] = {
.publicState = NAV_PUBLIC_STATE_EMERGENCY_LANDING_FINISHED,
.persistentId = NAV_PERSISTENT_ID_EMERGENCY_LANDING_FINISHED,
.onEntry = navOnEnteringState_NAV_STATE_EMERGENCY_LANDING_FINISHED,
.timeoutMs = 10,
.stateFlags = NAV_CTL_EMERG | NAV_REQUIRE_ANGLE,
@ -588,7 +588,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_LAUNCH_INITIALIZE] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_INITIALIZE,
.persistentId = NAV_PERSISTENT_ID_LAUNCH_INITIALIZE,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_INITIALIZE,
.timeoutMs = 0,
.stateFlags = NAV_REQUIRE_ANGLE,
@ -603,7 +603,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_LAUNCH_WAIT] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_WAIT,
.persistentId = NAV_PERSISTENT_ID_LAUNCH_WAIT,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_WAIT,
.timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@ -619,7 +619,7 @@ static const navigationFSMStateDescriptor_t navFSM[NAV_STATE_COUNT] = {
},
[NAV_STATE_LAUNCH_IN_PROGRESS] = {
.publicState = NAV_PUBLIC_STATE_LAUNCH_IN_PROGRESS,
.persistentId = NAV_PERSISTENT_ID_LAUNCH_IN_PROGRESS,
.onEntry = navOnEnteringState_NAV_STATE_LAUNCH_IN_PROGRESS,
.timeoutMs = 10,
.stateFlags = NAV_CTL_LAUNCH | NAV_REQUIRE_ANGLE,
@ -1223,7 +1223,7 @@ static navigationFSMState_t navSetNewFSMState(navigationFSMState_t newState)
previousState = posControl.navState;
if (posControl.navState != newState) {
posControl.navState = newState;
posControl.navPublicState = navFSM[newState].publicState;
posControl.navPersistentId = navFSM[newState].persistentId;
}
return previousState;
}
@ -2552,7 +2552,7 @@ void updateWaypointsAndNavigationMode(void)
switchNavigationFlightModes();
#if defined(NAV_BLACKBOX)
navCurrentState = (int16_t)posControl.navPublicState;
navCurrentState = (int16_t)posControl.navPersistentId;
#endif
}